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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。
Aiming at the lack of synchronicity between robot’s path planning and manipulator’s path planning, a robot and manipulator synchronization path planning method is proposed, which can not only realize the path planning of the path when the robot path planning, but also realize the planning of the path of operation. First of all, drawing on the thinking of people for space planning, this paper designs the overall train of thought to realize the simultaneous planning of robot and manipulator, and gives two new concepts involved, which are the point of operation and the operation point of two-dimensional object. Secondly, Synchronization planning model is assimilated into robot path point model by transformation matrix. Finally, the robot path point model is divided into two-dimensional walking path planning model and three-dimensional path planning model, and the walking path and the operation path are planned accordingly. In the home environment, based on the holographic map, the home service robot realizes the synchronization between the robot walking and the manipulator operation, and also can generate a reasonable walking path and operating path.