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机械手的最小时间轨迹规划 ( MTTP)问题是机器人技术研究的一个重要方面 .由于该问题数学模型的非线性以及所对应机器人动力学上的强耦合性 ,使得该问题很难达到优化目标 .本文提出了求解 MTTP问题的一种新算法 ,即基于机器人运动学的加强型进化规划算法 ,通过数值分析和计算验证了算法的有效性 .同时 ,我们结合该优化算法设计了一种基于投射式虚拟现实 ( PVR)技术的图形仿真软件 .通过实际的仿真 ,我们发现 ,利用设计的仿真软件可有效地在虚拟世界中实现直觉性操作、控制和管理 ,从而极大地提高了投射式操作的精度
The problem of MTTP is one of the most important aspects of robotics research, which is difficult to achieve due to the nonlinearity of the mathematical model and the strong coupling of robot dynamics. A new algorithm for solving MTTP problem is proposed, which is an enhanced evolutionary programming algorithm based on robot kinematics, which is verified by numerical analysis and calculation.At the same time, we combine this optimization algorithm to design a projection-based virtual reality (PVR) technology, we found that using simulation software designed to enable intuitive operation, control and management in the virtual world, we have greatly increased the accuracy of our projection operations