中国机械工程2018，Vol.29Issue(10)：1220-1226,7.DOI:10.3969/j.issn.1004-132X.2018.10.014
基于改进快速扩展随机树算法的双机械臂协同避障规划方法
Simultaneous Obstacle-avoidance Motion Planning Approach for Dual Arm Robots Based on Improved RRT Algorithm
陈波芝 1陆亮 1雷新宇 1赵萍1
作者信息
- 1. 合肥工业大学机械工程学院,合肥,230009
- 折叠
摘要
Abstract
A new obstacle avoidance approach was proposed based on improved RRT algorithm. Motion planning for the main arm was conducted and obtained to avoid existing static obstacles in working environments. Then the main arm was regarded as dynamic obstacles to obtain a feasible motion trajectory of the second robot arm.To improve the search efficiency of the algorithm,strategies of nodes-pruning as well as setting of target area were adopted,where the algorithm was terminated if the distance between manipulator's end positions and goal points within prescribed tolerances.Based on MATLAB program modeling experiments, simulation experiments were studied in ADAMS to demonstrate effectiveness and feasibility of the algorithm.关键词
双臂机器人/改进快速扩展随机树算法/运动规划/协同避障Key words
dual arm robot/improved rapidly-exploring random tree(RRT)algorithm/motion planning/simultaneous obstacle-avoidance分类
信息技术与安全科学引用本文复制引用
陈波芝,陆亮,雷新宇,赵萍..基于改进快速扩展随机树算法的双机械臂协同避障规划方法[J].中国机械工程,2018,29(10):1220-1226,7.
