| 果实采摘机械手多关节求解方法与避障规划 |
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| 引用本文： | 陈善峰,尹建军,王玉飞,杨自栋.果实采摘机械手多关节求解方法与避障规划[J].农机化研究,2012,34(7):24-28. |
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| 作者姓名： | 陈善峰 尹建军 王玉飞 杨自栋 |
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| 作者单位： | 1. 山东理工大学农业工程与食品科学学院,山东淄博,255049
2. 江苏大学现代农业装备与技术省部共建教育部重点实验室/江苏省重点实验室,江苏镇江,212013 |
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| 基金项目： | 国家自然科学基金，国家"十二五"农村领域科技计划项目子课题 |
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| 摘 要： | 以Motoman SV3X采摘果实为研究对象,在果实空间位置坐标和竖直类障碍物空间位姿已知的情况下,提出了一种机械手多关节角度计算和路径规划方法。首先根据果实位置和竖直类障碍物的分布计算出若干组机械手终点关节角度,然后选择其中一组作为终点角度,利用A*算法规划出一条机械手从初始角度到达终点角度的避障路径,解决了避障规划中的多关节角求解问题,规划方法对于竖直类障碍物的避碰路径规划具有一般性。Matlab仿真试验表明,求解的机械手关节角度能够避开竖直类障碍物,而且使末端执行器的位置在预设的误差范围内,验证了规划方法的正确性。
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| 关 键 词： | 机械手 路径规划 避障 果实采摘 |
Method of Solving Multi-joint Angle and Path Planning of Avoiding Obstacle for Fruit-picking Manipulator |
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| Chen Shanfeng
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Yin Jianjun
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Wang Yufei
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Yang Zidong.Method of Solving Multi-joint Angle and Path Planning of Avoiding Obstacle for Fruit-picking Manipulator[J].Journal of Agricultural Mechanization Research,2012,34(7):24-28. |
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| Authors: | Chen Shanfeng Yin Jianjun Wang Yufei Yang Zidong |
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| Institution: | 1(1.School of Agricultural and Food Engineering,Shandong University of Technology,Zibo 255049,China;2.Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education & Jiangsu Province,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | Motoman SV3X manipulator was used to pick fruit and chosen as research object.Under the instance of known space coordinates of fruit and space position and pose of erect obstacle,a kind of multi-joint angle computation and path planning method for Motoman SV3X was brought forward.Firstly,several sets of joint angles were computed according to relative space position between fruit and erect obstacle.And then,one set of joint angle was chosen as terminal angle of path planning.Finally,A*algorithm was used to plan a obstacle-avoiding path from start angle to end angle.The method solved the computation problem of multi-joint angle,and has universality for the problem of avoiding erect obstacle for fruit-picking manipulator.Simulation tests under the environment of Matlab showed that solved joint angles of manipulator can both make Motoman SV3X avoid erect obstacle and end-executor reach preconcerted position with given position error,and validated the correctness of the path planning method. |
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| Keywords: | manipulator path planning avoiding obstacle fruit-picking |
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