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为求解串联机器人的定姿态工作空间,提出一种基于二分逼近原理的快速搜索方法.该方法以机器人的逆运动学和碰撞二值测试为基础,通过引入包含姿态信息的虚拟直线并选择线上两点(定姿态工作空间内外各一点),不断进行二分和测试从而逐步逼近定姿态工作空间的边界.首先介绍了定姿态工作空间的概念及研究现状,提炼出其问题模型及求解思路;然后详细介绍了二分逼近搜索法及其在1维、2维和3维定姿态工作空间求解中的应用;最后通过仿真分析和比较验证了算法的有效性,表明二分逼近搜索法在精度为1mm时1维定姿态工作空间求解平均耗时14.5ms,适用于不同自由度和构型的机器人的1维~3维无碰定姿态工作空间求解问题.
A fast searching method based on bisectional approximation is proposed to solve the problem of fixed-posture working space of a tandem robot. The method is based on the inverse kinematics and birefringence test of the robot. By introducing a virtual straight line containing attitude information and selecting online Two points (each inside and outside the fixed work space) are used to make two steps and test to gradually approach the boundary of the fixed work space.Firstly, the concept and research status of the work attitude space are introduced, and the problem model and solution ideas are refined. Then The application of bisection approximation search method and its application to the solution of 1-D, 2-D and 3-D fixed-pose workspaces is presented in detail. Finally, the effectiveness of the algorithm is verified by simulation analysis and comparison. The average working time of the pose-fixed working space is 14.5 ms, which is suitable for solving the 1-D to 3-D work space of the robot with different degrees of freedom and configuration.