摘要
对双冗余度机器人的避碰运动规划进行了研究分析 ,发展和改进了一种基于距离函数的冗余度机器人避碰方法 。
The prospect of using redundant manipulators to work in space instead of astronauts was described. Redundant manipulators have the advantages of flexibility and reliability, but the collision between them during working is a problem. Collision-avoidance based motion planning of dual redundant manipulators was analyzed and researched. The method based on distance function was improved and the simulation results show the feasibility and usefulness of the method.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2004年第4期349-352,共4页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家 8 63基金资助项目 ( 2 0 0 2AA742 0 3 0 )
关键词
规划
避碰
冗余度机器人
Collision avoidance
Computer simulation
Motion planning
Reliability
Space applications
