• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Journal of robotic systems >Adaptive Path Planning and Obstacle Avoidance for a Robot with a Large Degree of Redundancy
【24h】

Adaptive Path Planning and Obstacle Avoidance for a Robot with a Large Degree of Redundancy

机译：具有大冗余度的机器人的自适应路径规划和避障

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A new algorithm for path planning and obstacle avoidance for redundant planar robots is proposed. The task of path planning is formulated as a sequence of nonlinear programming problems. For each problem, the objective is to minimize the distance between the current location of the end-effector and a desired location. Two penalties are added to each objective function to ensure that the robot is not colliding with any obstacle and that its links are not crossed over. The effects of mechanical stops and limits for maximum joint movements are also incorporated as inequality constraints. The algorithm uses an adaptive scheme to activate the fewest number of the outboard-most joints, and none of the inboard ones if possible, to reach a desired location. The algorithm is especially useful when the number of joints is large.
机译：提出了一种冗余平面机器人的路径规划和避障新算法。路径规划的任务被表述为一系列非线性规划问题。对于每个问题，目标是使末端执行器的当前位置与所需位置之间的距离最小。每个目标函数都增加了两个惩罚，以确保机器人不会与任何障碍物碰撞并且其链接不会交叉。机械止动的影响和最大关节运动的极限也被作为不平等约束。该算法使用自适应方案来激活最少数量的最外侧关节，如果可能，则不激活任何内侧关节，以到达所需位置。当关节数量很大时，该算法特别有用。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号