哈尔滨工业大学学报（英文版）2008，Vol.15Issue(1)：39-44,6.
Path planning of the robot assembly based on Voronoi diagram
Path planning of the robot assembly based on Voronoi diagram
摘要
Abstract
Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided beating bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference posi-tion vector path of the component movement from the initial configuration to the objective configuration, there-fore improves the flexibility of the robot initiative assembly.关键词
Voronoi diagram/ initiative assembly/ position vector/ path planningKey words
Voronoi diagram/ initiative assembly/ position vector/ path planning分类
信息技术与安全科学引用本文复制引用
FU Zhuang,ZHAO Yan-zheng..Path planning of the robot assembly based on Voronoi diagram[J].哈尔滨工业大学学报（英文版）,2008,15(1):39-44,6.基金项目
Sponsored by the National Natural Science Foundation of China( Grant No. 60675040). （ Grant No. 60675040）
