工业机器人避碰路径规划

工业机器人避碰路径规划(中文3000字,英文2000字)
Yuya Yanoshita and Shinichi Tsuda
摘要：本文论述的是工业机器人路径规划，这种规划主要运用的是避碰算法。对于未来的工业机器人操作，自主控制的路径规划方法可以受到固定指令的支配去捕获目标，不用一直受地面站的控制。尤其是从始至终要考虑到避免与目标本身的碰撞，一旦地点、形状和目标的控制点得到确认，这些点将在配置空间中表示出来。为了避免死锁现象的发生，本文利用了一种势场域算法，也就是将拉普拉斯势函数的应用在配置空间中获取路径。通过利用平滑路径的方法，我们已经在路径生成方面做了一定的改进。这种方法主要是利用样条函数插值，它减少了计算负荷和产生工业机器人的平滑路径，这种方法的有效性可通过几个数字模拟来展现。
关键字：工业机器人、路径规划、避碰、势函数、样条内插

Space Robot Path Planning
for Collision Avoidance
Yuya Yanoshita and Shinichi Tsuda

Abstract — This paper deals with a path planning of space robot which includes a collision avoidance algorithm. For the future space robot operation, autonomous and self-contained path planning is mandatory to capture a target without the aid of ground station. Especially the collision avoidance with target itself must be always considered. Once the location, shape and grasp point of the target are identified, those will be expressed in the configuration space. And in this paper a potential method.
Laplace potential function is applied to obtain the path in the configuration space in order to avoid so-called deadlock phenomenon. Improvement on the generation of the path has been observed by applying path smoothing method, which utilizes the spline function interpolation. This reduces the computational load and generates the smooth path of the space robot. The validity of this approach is shown by a few numerical simulations.

Key Words —Space Robot, Path Planning, Collision Avoidance, Potential Function, Spline Interpolation