基于网格法的机械臂无碰撞轨迹规划

摘要

This article describes a method of high voltage operation mechanical arm trajectory planning of collision-free in three-dimensional space. By mesh partition the whole workspace, a complete description of the free space and the obstructions space is made. And each grid is corresponding to an index. Then in the search path which used A*algorithm can be quickly and accurately get the best collision-free path and reduced the running time of the system.%介绍了高压带电作业机械臂在三维空间中进行无碰撞轨迹规划的一种方法，通过对整个作业空间进行网格化划分，完整的描述出自由空间与障碍物空间，并对每一个网格进行索引对应，使其在利用 A*算法搜索路径是可以迅速准确的得到最优的无碰撞路径，减少系统的运行时间。