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

双冗余度机器人的避碰运动规划方法研究

1.
北京航空航天大学机械工程及自动化学院, 北京 100083
2. 北京邮电大学自动化学院,北京 100876

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
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- 文章访问数: 2759
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- 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

Research on collision-free motion planning of dual redundant manipulators

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. School of Automation, Beijing Post and Equipment University, Beijing 100876, China

摘要

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.
- 规划 /
- 避碰 /
- 冗余度机器人
Abstract: Collision-avoidance based motion planning of dual redundant manipulators was analyzed and researched. A method based on distance function was improved and simulation results show the feasibility and usefulness of the work.
- planning /
- collision prevention /
- redundant manipulator

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参考文献(1)

[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

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