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基于模糊决策的机器人路径规划研究

he research of robot motion planning base on Fuzzy control

中文摘要英文摘要

对于多自由度机器人手臂在未知环境中的避障问题,本文提出了一种基于模糊决策的工业机器人实时路径规划方法。采用工作空间内的障碍物检测信息,直接建立障碍物模型,并设计一种基于模糊决策的机器人路径规划算法。在Matlab下利用机器人工具箱建立了PUMA560型机器人的运动学模型,并对该算法进行仿真分析,通过结果分析,本文所提出的路径规划算法可以有效的实现避障,具有较好的实时性。

s for the MDOF robot arm’s motion planning problem in an unknown environment, this paper discusses an industrial robot motion planning method based on the fuzzy control. By using complete information about the workspace, the paper presents an environmental model in the Cartesian space and develops a fuzzy control algorithm for robot motion planning. In order to test the presented algorithm, the motion planning control system is studied with Robot toolbox of Matlab by using a PUMA 560 model, and the simulation of the control system shows that the presented algorithm can achieve motion planning in a less time.

陈宏钧、张晓华、田丰

自动化技术、自动化技术设备计算技术、计算机技术

机器人,路径规划,环境模型,模糊决策

robot motion planning environment model fuzzy control

陈宏钧,张晓华,田丰.基于模糊决策的机器人路径规划研究[EB/OL].(2008-05-15)[2025-08-18].http://www.paper.edu.cn/releasepaper/content/200805-423.点此复制

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