在机器人的控制中自动绕过机械干涉区的策略和算法
The Strategies and Algorithms for Automatically Rounding the Mechanical Interference Zone in Robot Control
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摘要: 本文定义了绞接机械系统(AMS)的绞接变量相关空间及绞接件间机械干涉区(MIZ),给 出了一个机械干涉区几何模型,提出运动可行性检测和自动绕过机械干涉区的策略和算法,以 期提高绞接机器人系统的自动化控制程度.Abstract: In this paper, a relational space of articulated variates and the Mechanical Interference Zone (MIZ) between the articulators of Articulated Mechanical System (AMS) are defined. A geometric model for MIZ is shown. To improve the automatization of robotic system control, some strategies and algorithms for verifying the movement feasibility and automatically rounding the MIZ in AMS are presented.
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