摘要
讨论了人工势场方法中 Khatib方法规划冗余度机器人手爪在障碍环境中的轨迹问题 ,基于 Khatib方法提出由程序自动确定势场力比例因子的改进方法 ,寻找一条机器人手爪从起点到终点的安全路径。仿真结果表明 ,使用该方法计算时间短 。
This paper describes the collision free trajectory for redundant freedom robots by using Khatib method,one of methods which is used as artificial potential function,in an environment with multiples obstacles.Based on Khatib method an improved approach to determine the parameters is proposed,and a safe end effector trajectory is generated from the start point to the goal point over obstacles,the simulation result proves that this modified Khatib method has short calculating time and reasonable selection of parameters.
出处
《太原理工大学学报》
CAS
2001年第1期29-32,共4页
Journal of Taiyuan University of Technology
基金
山西省自然科学基金资助项目 !(9910 39)
