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以关节型机械臂避开垂直茎秆或撑杆采摘番茄为研究对象,提出了一种基于构形空间的关节型机械臂避障路径规划方法。利用空间映射原理,将关节型机械臂工作空间的三维避障问题转换为平面R-R机械臂避开障碍圆的问题,用临界碰撞关节角建立C-障碍空间的映射计算模型,将工作空间的位置避障转换为构形空间连杆关节角的计算。以能量最优函数优选避障规划的关节终点角度,利用A*算法计算平面R-R机械臂的避障关节角路径,获得一系列表示空间连杆位置的相交竖直面,并在竖直面内进行其余关节角的规划。避障采摘番茄的试验表明,机械臂带动夹持器能成功绕过直线状障碍物,引导夹持器到达果实目标位置,证明对平面R-R机械臂的空间映射建模是正确的,验证了提出的避障路径规划方法是可行的,可以应用于番茄的自动收获。
Taking the joint manipulator avoiding the vertical stem or picking the tomato as the research object, an obstacle avoidance path planning method of articulated robotic manipulator based on the configuration space was proposed. Based on the principle of space mapping, the problem of three-dimensional obstacle avoidance in the working space of articulated robotic manipulator is converted to the problem that plane RR manipulator avoids the obstacle circle. The critical computational model of C-obstacle space is established by using the critical collision joint angle. Avoiding obstacle is converted to the calculation of the joint angle of connecting rod in the configuration space. Based on the angle of joint end point of optimal obstacle avoidance planning with energy optimal function, A * algorithm is used to calculate the obstacle avoidance joint path of planar RR manipulator to obtain a series of intersecting vertical planes which represent the position of spatial link, and in the vertical plane Perform the rest of the joint angle planning. Experiments on picking tomato with obstacle avoidance show that the manipulator-driven gripper can successfully bypass the linear obstacle and guide the gripper to reach the fruit target position. It proves that the modeling of the spatial mapping of the planar RR manipulator is correct, The obstacle avoidance path planning method is feasible and can be applied to the automatic harvesting of tomatoes.