一种两臂凿岩机器人孔序规划算法

摘要

本文在利用各关节运动方向取值作为遗传算法的适应度函数的遗传算法规划单臂凿岩机器人工作任务的基础上，对单臂任务序列运用一种循环移位的方法，使两臂凿岩机器人不存在彼此互相干涉的工作任务，同时用两臂能共同工作到的区间内任务来平衡各臂的工作任务，对单臂工作序列采取截取、移位以均衡两臂的工作任务。%This paper presents a new algorithm based the assignment planning of a boom to plan assignment sequence of the two boom multi－ joint robot. We have introduced the direction of the movement of robot joint as numerical value to count adaptation function for assignment planning of a boom, and then change the planning of a boom with shift－ loop to make the assignment sequence without intermeddle.At the same time, we make the assignment of the partship operation region of tow boom as balancing assignment to produce the global assignment planning.