| 基于改进的Khatib方法的冗余机器人避障轨迹规划 |
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| 引用本文： | 郑利红,荣国宏,李元宗.基于改进的Khatib方法的冗余机器人避障轨迹规划[J].太原理工大学学报,2001,32(1):29-32. |
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| 作者姓名： | 郑利红 荣国宏 李元宗 |
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| 作者单位： | 太原理工大学应用力学研究所 |
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| 基金项目： | 山西省自然科学基金资助项目(991039) |
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| 摘 要： | 讨论了人工势场方法中Khatib方法规划冗余度机器人手爪在障碍环境中的轨迹问题，基于Khatib方法提出由程序自动确定势场力比例因子的改进方法，寻找一条机器人手爪从起点到终点的安全路径。仿真结果表明，使用该方法计算时间短，参数选择设计合理。
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| 关 键 词： | 人工势场法 KhAtiB方法 避障轨迹规划 机器人 冗余度 |
| 文章编号： | 1007-9432(2001)01-0029-04 |
| 修稿时间： | 2000年6月30日 |
Collision-free Trajectory for Hands of Redundant-freedom RobotsUsing Modified Khatib Method |
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| Zheng Lihong,Rong Guohong,Li yuanzong.Collision-free Trajectory for Hands of Redundant-freedom RobotsUsing Modified Khatib Method[J].Journal of Taiyuan University of Technology,2001,32(1):29-32. |
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| Authors: | Zheng Lihong Rong Guohong Li yuanzong |
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| Institution: | Institute of Applied Mechanics of TUT |
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| Abstract: | This paper describes the collision free trajectory for redundant freedom robots by using Khatib method,one of methods which is used as artificial potential function,in an environment with multiples obstacles.Based on Khatib method an improved approach to determine the parameters is proposed,and a safe end effector trajectory is generated from the start point to the goal point over obstacles,the simulation result proves that this modified Khatib method has short calculating time and reasonable selection of parameters. |
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| Keywords: | modified Khatib method artificial potential function collision-free trajectory |
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