留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

双冗余度机器人的避碰运动规划方法研究

贾庆轩 战强 孙汉旭

贾庆轩, 战强, 孙汉旭等 . 双冗余度机器人的避碰运动规划方法研究[J]. 北京航空航天大学学报, 2004, 30(04): 349-352.
引用本文: 贾庆轩, 战强, 孙汉旭等 . 双冗余度机器人的避碰运动规划方法研究[J]. 北京航空航天大学学报, 2004, 30(04): 349-352.
Jia Qingxuan, Zhan Qiang, Sun Hanxuet al. Research on collision-free motion planning of dual redundant manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(04): 349-352. (in Chinese)
Citation: Jia Qingxuan, Zhan Qiang, Sun Hanxuet al. Research on collision-free motion planning of dual redundant manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(04): 349-352. (in Chinese)

双冗余度机器人的避碰运动规划方法研究

基金项目: 国家863基金资助项目(2002AA742030)
详细信息
    作者简介:

    贾庆轩(1965-),男,山东荷泽人,博士生, sdjqx@sohu.com.

  • 中图分类号: TP 242

Research on collision-free motion planning of dual redundant manipulators

  • 摘要: 对双冗余度机器人的避碰运动规划进行了研究分析,发展和改进了一种基于距离函数的冗余度机器人避碰方法,提高了该方法的通用性和可靠性.

     

  • [1] 孙增圻. 空间机器人国外发展状况及我国的发展设想. 空间机器人及遥科学技术研讨会论文集. 烟台,1999.1~20 Sun Z Q. The development conditions of space robots in foreign countries and future planning of our country. Proceedings of Symposium on Space Robot and Teleoperation Science. Yantai, 1999. 1~20(in Chinese) [2] Lee S. Dual redundant arm configuration optimization with task-orientated dual arm manipulability [J]. IEEE Transaction on Robotics and Automation, 1989, 5(1):78~97 [3]Hu Y R, Goldenberg A A. Motion and force control of coordinated robots during constrained motion task [J]. IEEE the International Journal of Robotics Research, 1995, 14(4):351~365 [4]Warren C W. Multiple robot path coordination using artificial potential fields. Proceedings of IEEE Int Conference on Robotics and Automation. Sandiego, 1990. 500~505 [5]Buckley S J. Fast motion planning for multiple moving robots. Proceedings of IEEE Int Conf on Robotics and Automation. Scottsdale, Arizona, 1989. 322~326 [6]Liu Y H, Kuroda S, Naniw T, et al. A practical algorithm for planning collision-free coordinated motion of multiple mobile robots. Proceedings of IEEE Int Conf on Robotics and Automation. Scottsdale, Arizona, 1989. 1427~1432 [7]Sezgin U, Seneviratne L D, Earles S W E. Collision avoidance in multiple redundant manipulators [J]. Robotics Research, 1997,16(5):714~724 [8]Mayorga R V, Wong A K C. A simple method for the on-line synchronous motion planning of multi-manipulators systems. Proceedings of Int Conf on System, Man and Cybernetics, Sandiego. 1995.886~891 [9]Zhan Qiang, He Hanhui, Chen Ming. Collision avoidance of cooperative dual redundant manipulators [J]. Chinese Journal of Aeronautics (English Edition),2003, 16(2):117~122
  • 加载中
计量
  • 文章访问数:  2658
  • HTML全文浏览量:  237
  • PDF下载量:  920
  • 被引次数: 0
出版历程
  • 收稿日期:  2003-11-15
  • 网络出版日期:  2004-04-30

目录

    /

    返回文章
    返回
    常见问答