基于全息地图的机器人与操作手同步路径规划

针对机器人行走路径规划与机械手操作路径规划之间缺乏同步性,提出了一种机器人与机械手同步路径规划方法,使机器人在路径规划时不仅可以实现行走路径规划,还实现了对操作路径的规划。首先,借鉴人对空间规划的思想,设计了实现机器人与机械手同步规划的总体思路,并且给出了其涉及的两个新概念,分别为物品点和二维物品操作点;其次,设定了同步规划模型,利用转换矩阵将其同化为机器人路径点模型;最后,将机器人路径点模型分裂为二维行走路径规划模型和三维路径规划模型,并据此同步的规划行走路径和操作路径。在家庭环境下,家庭服务机器人基于全息地图利用该方法实现了机器人行走与机械手操作之间的同步性,同时也可以生成合理的行走路径和操作路径。

Research of Synchronous Path Planning Between Robot and Operating Handle Based on Holographic Map

According for lack of synchronicities between robots walk path planning and manipulator operation path planning,a synchronous path planning method between robot and manipulator was put forward,that made the robot path planning could not only realize when walking path planning,but also realize the operation path planning.First of all,taking from the thought of people in space planning,general idea of synchronous planning for robot was designed,and two new concepts were given:items point and 2-Ditems operation point.Secondly,a synchronous Path Planning Model for robot,and assimilates it into a Robot Path Point Model depends on transformational relation of robot was designed.Finally,2-D and 3-D path planning model from Robot Path Point Model were split up,on these grounds,robot plans walk path and operation path synchronously.In the family environment,family service robot based on holographic map with this method brings about the integration of robot walking and manipulator operating,at the same time it also can generate reasonable walk path and the operation of the path.