摘要
随着人机共融技术的快速发展,智能制造成为未来工业发展的主题,作为未来制造业的核心——工业机器人,其避碰技术是人机共融领域的研究热点,具有极高的科研价值和可观的应用前景,该技术的核心内容之一为机器人避碰算法的研究。文中从传统方法和智能方法两方面阐述了代表性的机器人避碰算法研究,分析比较了各种算法的优势与不足,而后总结了针对避碰算法的不足而改进的算法等,最后对机器人避碰算法的发展趋势进行了展望。
With the rapid development of human-machine interaction technology, intelligent manufacturing has become the focus of industrial development in the future. As the core technology of the future manufacturing industry, the industrial robot collision avoidance technologies became focus on the research field of human-machine integration. Such technologies have high scientific value and considerable application prospect, one of the main content is the collision avoidance algorithm of industrial robots. Representative robotic collision avoidance algorithms both in traditional and intelligent approaches were elaborated, then the characteristics of current collision avoidance algorithms were analyzed and summed up. Finally, the trend of industrial robots avoidance algorithm development was prospected.
作者
蔡灿
刘璇
张建华
张明路
CAI Can, LIU Xuan, ZHANG Jian-hua, ZHANG Ming-lu(School of Mechanical Engineering, Hebei University of Technology, Tianjin 30013)
出处
《机械设计》
CSCD
北大核心
2018年第4期1-7,共7页
Journal of Machine Design
基金
国家自然科学基金资助项目(E51575157)
河北省自然科学基金重点资助项目(E2016202342)
河北省高等学校科学技术研究资助项目(QN2014089)
关键词
机器人
避碰
传统方法
智能方法
robot
collision avoidance
traditional method
intelligent method
作者简介
蔡灿（1993-），女，硕士研究生，研究方向：智能机器人技术。E-mail：cai1974086923@163．com;刘璇（通信作者）（1980-），女，讲师，博士，研究方向：智能机器人技术。E-mail：xuaner1007@163．com
