| 吴文迎， 蔡锦达， 高朋帅.基于自适应目标偏置系数的机械臂路径规划算法[J].轻工机械,2022,40(1):34-42 |
| 基于自适应目标偏置系数的机械臂路径规划算法 |
| Path Planning Algorithm for Manipulator Based on Adaptive Target Biasing Coefficient |
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| DOI：10.3969/j.issn.1005 2895.2022.01.007 |
| 中文关键词: 机械臂 路径规划 快速搜索随机树算法 D H参数法 自适应目标偏置 剪枝后处理 |
| 英文关键词:manipulator path planning RRT（Rapid Exploration Random Tree） algorithm D H parameter method adaptive target offset post pruning |
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| 中文摘要: |
| 针对快速搜索随机树（RRT）算法因其随机特性导致的运行时间过长和计算结果往往不是最优解的问题，在RRT算法及其改进算法的基础上，课题组提出了一种基于自适应目标偏置系数的机械臂路径规划算法，并将该算法应用到医疗设备无影灯的使用中。首先，用D H参数法对6自由度机械臂进行运动学描述和正运动学求解，得到末端的运动状态和位姿；然后，综合RRT算法及其改进算法的优点拓展新节点和重置父节点，并引入自适应目标偏置系数,再对路径作剪枝后处理。对比实验结果显示：该方法在保证算法搜索效率的基础上，有效地提高了路径质量。基于ROS的仿真平台验证了该方法具有实用性和可行性。 |
| 英文摘要: |
| In order to solve the problems that RRT algorithm has long running time and the calculation results are often not the optimal solution due to its random characteristics, a path planning algorithm for manipulator based on adaptive target bias coefficient was proposed based on RRT algorithm and its improved algorithm, and the algorithm was applied to the shadowless lamp of medical equipment. Firstly, the D H parameter method was used to describe the kinematics and solve the forward kinematics of the 6 DOF manipulator, and the motion state and pose of the terminal were obtained. Then, the new node was expanded and the parent node was reset based on the advantages of RRT algorithm and its improved algorithm, the adaptive target bias coefficient was introduced and the path was pruned after processing. The comparative experimental results show that this method can effectively improve the path quality while ensuring the search efficiency of the algorithm. The practicability and feasibility of the proposed method are verified by a simulation platform based on ROS. |
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