外力干扰下的机器人目标可达性分析

摘要

针对外力干扰对机器人运动性能、运动轨迹和目标点精度的影响，导致机器人在匀速、匀加速与变加速情况下产生的目标可达性等问题，提出了一种全局路径规划的目标可达性分析方法。该方法将机器人实时位置视为原点，通过正交分解作用力，以人工势场法调节机器人的运动。在Matlab计算环境中，将理论推导与数值仿真相结合，实时分析机器人是否可到达目标点并给出预判结果。仿真结果表明，该分析法具有较好的实用性。%In accordance with the influence of external force interference on motion performance, motion trajectory and target accuracy of robots, which lead to the target reachability problem of robots under uniform velocity, uniform acceleration or variable acceleration, the target reachability analysis method of global path planning is proposed. With this method, the real time position of robot is considered as the origin, through orthogonal decomposition of the force, the movement of robot is adjusted with the method of artificial potential field. In Matlab calculation environment, the theoretical derivation is combined with numerical simulation, whether or not the robot can reach the target point is analyzed in real time, the result of predictive judgment is given. The result of simulation indicates that this analysis method possesses better practicability.