一种用于求解机械手MTTP问题的新算法及其在PVR环境中提高投射式操作精度的应用

摘要

The minimum time trajectory planning (MTTP) of robot manipulator plays an important role in the field of robotics. However, it is very difficult to reach the goal due to the nonlinearities in the mathematic model and the strong couplings in robot dynamics. Based on the intensified evolutional programming kinematic approach, the trajectory planning optimization is carried out with numerical analysis and computations. Meanwhile, a kind of graphic simulation software is developed by using the new optimal algorithm based on projective virtual reality (PVR) technology. The graphic simulation and experimental results show that the intuitive operability, control, and supervision can be realized effectively in the virtual world, and the precision of projective operability is greatly enhanced.%机械手的最小时间轨迹规划(MTTP)问题是机器人技术研究的一个重要方面.由于该问题数学模型的非线性以及所对应机器人动力学上的强耦合性,使得该问题很难达到优化目标.本文提出了求解MTTP问题的一种新算法,即基于机器人运动学的加强型进化规划算法,通过数值分析和计算验证了算法的有效性.同时,我们结合该优化算法设计了一种基于投射式虚拟现实(PVR)技术的图形仿真软件.通过实际的仿真,我们发现,利用设计的仿真软件可有效地在虚拟世界中实现直觉性操作、控制和管理,从而极大地提高了投射式操作的精度.