摘要
本文研究了障碍环境下多关节机器人自主实时避碰运动理论、技术与方法．研制的新型红外传感皮肤,可以为多关节机器人提供所需要的周围环境信息．针对非结构化环境下的多关节机器人实时避障问题,提出了一种未知环境下的机器人模糊路径实时规划新方法．实验结果表明:基于研制的红外传感皮肤和模糊运动规划算法,多关节机器人可以在未知或时变环境下自主工作．
This paper researches the self-operation and realtime obstacle avoidance theory, technique and method for multijoint robot in obstacle environments. The developed new infrared sensor skin is used to build a description of the robot＇s surroundings. The new robot motion planning approach, which uses the fuzzy logic method, is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The experimental result shows that the multi-joint robot can work autonomously in unknown or time-varying environments based on the developed infrared sensor skin and the proposed fuzzy motion control algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第6期664-667,共4页
Acta Automatica Sinica
基金
国家自然科学基金(50105002)资助~~
