摘要
针对重离子放疗辅助医用机械臂的工作任务需求,提出一种基于A*算法的避撞路径规划方法。根据治疗室内环境以及障碍物特征,对医用机械臂和障碍模型进行简化。通过研究机械臂各关节运动过程中与各障碍物相对位姿关系,分析机械臂运动导致碰撞发生的条件,进而求解医用机械臂安全摆位空间。基于A*算法在医用机械臂安全摆位空间内进行避撞路径搜索,实现避撞路径规划。通过仿真试验验证了基于A*算法的医用机械臂避撞路径规划方法是安全可行的。
According to the task requirement of heavy ion radiotherapy assisted medical manipulator, a collision avoidance path planning method based on A* algorithm was proposed. The medical manipulator and obstacle model were simplified according to the indoor environment and obstacle characteristics. By studying the relative pose relationship between each joint of the manipulator and each obstacle, the condition of collision caused by the motion of the manipulator was analyzed, and the safe swing space of the medical manipulator was solved. Based on A* algorithm, the collision avoidance path was searched in the safe swing space of medical manipulator to realize collision avoidance path planning. The simulation results showed that the collision avoidance path planning method based on A* algorithm is safe and feasible.
作者
乔宇
姚运萍
马利强
杨小龙
陈继鹏
陈惠贤
QIAO Yu;YAO Yunping;MA Liqiang;YANG Xiaolong;CHEN Jipeng;CHEN Huixian(Mechanical and Electrical Engineering College,Lanzhou University of Technology,Lanzhou Gansu 730050,China)
出处
《中国医疗设备》
2019年第6期61-65,共5页
China Medical Devices
关键词
医用机械臂
避撞
路径规划
A*算法
medical manipulator
collision avoidance
path planning
A* algorithm
