基于构型选优决策的冗余度机器人避障研究

摘要

To make a redundant robot implement the end-effector task in an obstacle environment, this paper first proposes a new collision avoidance strategy based on the optimal decision of configurations, which optimizes the comprehensive performance of the manipulator while avoiding obstacles. Then, the feasibility of the proposed approach is verified with the simulation and experiment of a 3R-2P redundant robot.%为了使冗余度机器人在障碍物环境下更好地完成末端操作任务，首先提出了一种新的基于构型选优决策的避障策略，它在保证避障和完成末端任务的同时使机器人的综合性能指标更优，然后利用3R-2P机器人的仿真及实验研究证明了所提方法的可行性．