| 茄子收获机器人机械臂避障路径规划 |
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| 引用本文： | 姚立健,丁为民,陈玉仑,赵三琴.茄子收获机器人机械臂避障路径规划[J].农业机械学报,2008,39(11):94-98. |
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| 作者姓名： | 姚立健 丁为民 陈玉仑 赵三琴 |
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| 作者单位： | 1. 东南大学自动化学院,南京市,210096
2. 南京农业大学工学院,南京市,210031 |
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| 摘 要： | 提出了一种茄子收获机器人机械臂在笛卡尔空间的避障方法.将空间障碍物等效为可以用数学建模的圆柱扇环,将三维空间的路径规划简化为二维,提高了控制的实时性;将障碍从工作空间转换到C-空间中,使对机器人的控制直接作用于关节,避免了使用雅可比逆阵进行复杂的坐标转换.将C-空间映射到图像矩阵中,通过对图像进行适当的处理,规避了在使用A*算法寻优时可能出现的失败.实验结果表明,该避障路径规划方法计算量小,实时性好,适合自然生长状态下茄子的自动收获.
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| 关 键 词： | 茄子收获机器人 机械手 避障 路径规划 |
Obstacle Avoidance Path Planning of Eggplant Harvesting Robot Manipulator |
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| Yao Lijian,Ding Weimin,Chen Yulun,Zhao Sanqin.Obstacle Avoidance Path Planning of Eggplant Harvesting Robot Manipulator[J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(11):94-98. |
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| Authors: | Yao Lijian Ding Weimin Chen Yulun Zhao Sanqin |
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| Institution: | Yao Lijian Ding Weimin Chen Yulun Zhao Sanqin(Nanjing Agricultural University,Nanjing 210031,China) |
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| Abstract: | A method was put forward to avoid obstacles for an eggplant harvesting robot manipulator in Cartesian space. The obstacles were supposed equivalently as cylindrical-rings,and then a three-dimensional planning path problem was simplified to a two-dimensional one,which improved the real-time control performance greatly. Transforming the obstacles from work-space to configuration-space could control the robot joints directly,which could avoid complex coordinate translation using Jacobian inverse matrix. Moreov... |
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| Keywords: | Eggplant harvesting robot Manipulator Obstacle avoidance Path planning |
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