基于导航势函数法的六自由度机械臂避障路径规划

以MOTOMAN MH6型机械臂为研究对象,运用导航势函数法对机械臂的无碰撞路径规划展开研究. 根据机械臂的几何特点对机械臂进行简化,并结合球型包络算法分析了障碍物与机械臂碰撞的临界条件,计算出机械臂运动的自由空间. 导航势函数法有效解决了传统人工势场法的"局部极小值陷阱"问题,由于预先消除了目标点以外的极小值,机械臂能够顺利到达目标点. 通过数值仿真,解决了导航势函数控制参数的选取问题,并在基于OpenGL的虚拟实验平台中进一步验证了该方法的有效性和可行性. 

Path Plan of 6-DOF Robot Manipulators in Obstacle Environment Based on Navigation Potential Function

Based on the navigation potential function, the path planning problem was studied for the MOTOMAN MH6 robot manipulator. According to the geometric features of the manipulator, the simplified model can be obtained. And by the method of sphere enveloping and analyzing the collision condition between the manipulator and obstacles, the free space of the manipulator was computed. The local minima points except goal were eliminated in advance by navigation potential function which can make the path arrive the goal, and the problem of local minima in traditional potential method was also be solved. The problem of selecting the value for the control parameter of the navigation function was explained by numerical simulation. The effectiveness and feasibility of the method is also validated in the virtual platform based on OpenGL.