一种新型机器人多自由度关节的路径规划方法

作者：胡香玲1，李宪章1，冯浩1，华亮2 日期：2006-12-28/span> 浏览：4139 查看PDF文档

一种新型机器人多自由度关节的路径规划方法

胡香玲1，李宪章1，冯浩1，华亮2
（1.浙江工业大学 智能信息系统研究所，浙江 杭州 310014；2.南通大学 电气工程学院，江苏 南通 226000）

摘要：介绍了一种新型机器人多自由度关节的结构，对该关节路径规划问题的特殊性进行了分析和探讨，并在此基础上提出了一种将路径空间中的点映射到β-γ平面的路径规划新方法——β-γ平面规划法。该方法通过在上位机上进行β-γ平面路径规划，控制下位机来驱动基于超声波电机控制的关节，使关节沿规划的路径指向空间目标点并避免进入死区。通过建模和仿真，证实了该方法可以降低路径规划的难度，使之变得简单直观。
关键词：机器人；多自由度；路径规划
中图分类号：TP242文献标识码：A文章编号：1001-4551(2006)02-0058-05

A Method of Path Planning for New Robot Joint with Multi|DOF
HU Xiang|ling1, LI Xian|zhang1, FENG Hao1,HUA Liang2
(1.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310014, China;
2.College of Electrical Engineering, Nantong University, Nantong 226000, China)
Abstract:  The paper introduces the structure of the joint with multi|DOF at first, then analyzes and discusses the particularity of the path planning. Based on this, a new method named β－γ coordinate path planning which makes the point in space mapped into the β－γ coordinate is presented. In this method, β－γ coordinate path planning can be done on upper|computer and control down|computer to drive joint which controlled by Ultrasonic Motor(USM),then make the joint point to the target point along the path and avoid enter into the dead|zone. Simulation and model|building prove that the method can reduce the difficult of path planning and make it easy.
Key words:  Robot; Multi|Degree|of|Freedom(Multi|DOF);Path Planning
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