机器人工作空间边界点提取算法研究与改进

doi:10.16578/j.issn.1004.2539.2014.11.042

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机器人工作空间边界点提取算法研究与改进

更新时间：2025-04-03

- 机器人工作空间边界点提取算法研究与改进
- Vol. 38, Issue 11, Pages: 49-53(2014)
- 作者机构：
  
  四川大学制造科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2014.11.042
  CLC： TP242
- Published：2014
- 稿件说明：
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[1]陈是扦,刁燕,罗华,李宁波,钟悦.机器人工作空间边界点提取算法研究与改进[J].机械传动,2014,38(11):49-53.

[J]. 2014, 38(11): 49-53.
[1]陈是扦,刁燕,罗华,李宁波,钟悦.机器人工作空间边界点提取算法研究与改进[J].机械传动,2014,38(11):49-53. DOI： 10.16578/j.issn.1004.2539.2014.11.042.

[J]. 2014, 38(11): 49-53. DOI： 10.16578/j.issn.1004.2539.2014.11.042.

摘要

工作空间边界点提取是机器人工作空间分析中的关键环节。对现有的工作空间边界提取算法进行了详细讨论。针对传统按列划分法边界点提取均匀性差以及内部边界点提取困难的缺陷

提出了按角度划分的边界点提取算法;针对局部坐标法计算效率低的缺点

采用将按角度划分法与局部坐标法结合进行边界点提取的方法。采用最小二乘法对边界点提取结果进行了分析;结果表明改进后的算法计算效率和计算精度都有所提高。最后采用改进算法对一冗余自由度的混联手术机器人工作空间进行了边界提取

验证了算法的正确性和可行性。

Abstract

Extracting workspace boundary points is a key link in workspace analysis of robot.The limitations of the existing algorithms for workspace boundary extraction are discussed in detail.Aiming at the inhomogeneity of the boundary points and the difficulty of the inner boundary point extraction with the method of partitioning by rows

a new boundary extraction algorithm of partitioning by angle is presented.The method of combining partitioning by rows method with the local coordinate method is employed to extract the workspace boundary for the low computing efficiency of using local coordinate method alone.The least square method is applied to analyze the performance of different algorithms and the experiment results show that the improved algorithm can achieve better performance in efficiency and accuracy.Finally the workspace boundary points of a surgical robot with redundant degrees of freedom are obtained with the improved algorithm

which proves the validity and feasibility of this algorithm.

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