基于A~*算法和三次样条的工业机械臂路径平滑性研究
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摘要
为提高工业机械臂运动的平滑性,提出了一种基于A*算法和三次样条函数的路径规划方法。首先建立空间障碍物3维模型,应用A*算法规划出在障碍物环境下的可行路径。然后以该路径的关键节点,建立三次样条插值函数,生成平滑的机械臂避障路径。最后通过实例对关节不同时刻的位移、速度、加速度的仿真和对比,结果验证了该方法的有效性。
To improve the smoothness of industrial manipulator motion,a path planning method based on A~* algorithm and cubic spline function is proposed. To begin with,the three-dimensional model of space obstacles is established,and A~* algorithm is applied to plan the feasible path in the environment of obstacles. Then,a cubic spline function interpolating key nodes of the path is employed to generate a smooth and collision-free path. Finally,the simulation of this approach on robot is performed and the test results show the smoothness of the displacement,velocity and acceleration of joints in different time are improved,which demonstrates the effectiveness of this method.
To improve the smoothness of industrial manipulator motion,a path planning method based on A~* algorithm and cubic spline function is proposed. To begin with,the three-dimensional model of space obstacles is established,and A~* algorithm is applied to plan the feasible path in the environment of obstacles. Then,a cubic spline function interpolating key nodes of the path is employed to generate a smooth and collision-free path. Finally,the simulation of this approach on robot is performed and the test results show the smoothness of the displacement,velocity and acceleration of joints in different time are improved,which demonstrates the effectiveness of this method.
引文
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[11]韩涛,吴怀宇,杜钊君,等.基于遗传算法的机械臂实时避障路径规划研究[J].计算机应用研究,2013,30(5):1373-1376.
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[13]施祥玲,方红根,郭为忠.基于五次NURBS的机械臂时间-能量-平滑性多目标轨迹优化[J].机械设计与研究,2017,33(1):12-16.
[2]熊有伦.机器人技术基础[M].武汉:华中科技大学出版社,1996.
[3]翁文文,殷晨波,冯浩,等.挖掘机器人自主挖掘轨迹规划方法[J].机械设计与研究,2018,34(2):5-9.
[4]汤彬,王学武,薛立卡,等.双焊接机器人避障路径规划[J].华东理工大学学报:自然科学版,2017,43(3):417-424.
[5]SNCHEZ-TORRUBIA M G,TORRES-BLANC C,LPEZ-MARTíNEZ M A.PathFinder:A visualization e MathTeacher for actively learning dijkstra’s algorithm[J].Electronic Notes in Theoretical Computer Science,2009,224:151-158.
[6]李擎,谢四江,童新海,等.一种用于车辆最短路径规划的自适应遗传算法及其与Dijkstra和A*算法的比较[J].北京科技大学学报,2006(11):1082-1086.
[7]汪首坤,邸智,王军政,等.基于A*改进算法的机械臂避障路径规划[J].北京理工大学学报,2011,31(11):1302-1306.
[8]宗成星,陆亮,雷新宇,等.一种基于A*算法的空间多自由度机械臂路径规划方法[J].合肥工业大学学报:自然科学版,2017,40(2):164-168.
[9]贾庆轩,陈钢,孙汉旭,等.基于A*算法的空间机械臂避障路径规划[J].机械工程学报,2010,46(13):109-115.
[10]陈波芝,陆亮,雷新宇,等.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.
[11]韩涛,吴怀宇,杜钊君,等.基于遗传算法的机械臂实时避障路径规划研究[J].计算机应用研究,2013,30(5):1373-1376.
[12]殷凤健,梁庆华,程旭,等.基于时间最优的机械臂关节空间轨迹规划算法[J].机械设计与研究,2017,33(5):12-15.
[13]施祥玲,方红根,郭为忠.基于五次NURBS的机械臂时间-能量-平滑性多目标轨迹优化[J].机械设计与研究,2017,33(1):12-16.