本文關(guān)鍵詞： 蜘蛛六足機(jī)器人 D-H建模 過(guò)路徑點(diǎn)的三次多項(xiàng)式插值 路徑規(guī)劃　出處：《機(jī)械傳動(dòng)》2017年07期 　論文類(lèi)型：期刊論文

【摘要】：針對(duì)復(fù)雜隧道環(huán)境中機(jī)器人的避障問(wèn)題,提出使用過(guò)路徑點(diǎn)的三次多項(xiàng)式插值算法對(duì)機(jī)器人足運(yùn)動(dòng)路徑進(jìn)行規(guī)劃。設(shè)計(jì)了一個(gè)能在隧道空間靈活運(yùn)動(dòng)的18關(guān)節(jié)六足仿蜘蛛機(jī)器人,運(yùn)用D-H建模方法對(duì)仿蜘蛛機(jī)器人足進(jìn)行運(yùn)動(dòng)學(xué)建模,并推導(dǎo)了逆運(yùn)動(dòng)學(xué)方程式,基于蒙特卡洛法對(duì)足端可達(dá)空間進(jìn)行仿真分析,并基于過(guò)路徑點(diǎn)的三次多項(xiàng)式插值算法對(duì)機(jī)器人足避障軌跡進(jìn)行路徑規(guī)劃仿真。仿真結(jié)果表明,在仿蜘蛛機(jī)器人足路徑規(guī)劃中應(yīng)用過(guò)路徑點(diǎn)的三次多項(xiàng)式插值方法能保證步行足運(yùn)動(dòng)動(dòng)作的平滑性,從而避免了因力矩突變引起的沖擊作用,同時(shí)足端能通過(guò)路徑點(diǎn)以滿足避障要求。
[Abstract]:Aiming at the obstacle avoidance problem of robot in complex tunnel environment, In this paper, a cubic polynomial interpolation algorithm with path points is proposed to plan the path of robot foot motion, and an 18-joint six-legged spider imitation robot is designed, which can move flexibly in tunnel space. The D-H modeling method is used to model the kinematics of the spider robot foot, and the inverse kinematics equation is derived. Based on the Monte Carlo method, the reachable space of the foot is simulated and analyzed. Based on the cubic polynomial interpolation algorithm over path point, the path planning simulation of robot foot obstacle avoidance trajectory is carried out. The simulation results show that, The cubic polynomial interpolation method, which is used in the path planning of spiders, can ensure the smoothness of the walking foot motion, thus avoiding the impact caused by the sudden change of torque. At the same time, the foot can pass through the path point to meet the obstacle avoidance requirements.
【作者單位】： 重慶交通大學(xué)機(jī)電與車(chē)輛工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(51375519) 重慶市研究生科研創(chuàng)新基金(CYS15181)
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：1494598