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冗余机械臂可以利用多余的自由度避开障碍物,而又不影响末端执行器的操作。因此与一般非冗余机械臂相比,冗余机械臂处理避障问题具有明显优势。目前关于冗余机械臂空间轨迹规划的研究还未形成一套整体的框架归类,因此有必要对现有研究成果进行系统分析和深入总结。文中探讨了冗余机械臂空间轨迹规划的基本原理和实际应用,将其按照建模原理不同划分为五大类,详细归纳了这些方法的优势和不足,并对冗余机械臂空间轨迹规划未来发展趋势进行了构想和展望。
Redundant robots can use extra freedom to avoid obstacles without affecting the end effector’s operation. Therefore, compared with the general non-redundant arm, redundant arm handling obstacle avoidance problem has obvious advantages. At present, the research on spatial trajectory planning of redundant manipulator has not formed a whole framework classification, so it is necessary to make a systematic analysis and in-depth summary of the existing research results. In this paper, the basic principle and practical application of trajectory planning for redundant manipulator are discussed. According to the different modeling principles, the trajectory planning of the redundant manipulator is divided into five categories. The advantages and disadvantages of these methods are summarized in detail. Trends have been conceived and looked forward.