Research of the Algorithm for Robot Workspace Boundary Extraction

Cui Zhihong; Diao Yan; Han Lei; Luo Jingping; Wang Qiang

doi:10.16578/j.issn.1004.2539.2016.02.019

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Research of the Algorithm for Robot Workspace Boundary Extraction

更新时间：2022-10-20

- Research of the Algorithm for Robot Workspace Boundary Extraction
- Vol. 40, Issue 2, Pages: 85-87(2016)
- 作者机构：
  
  1. 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.1004.2539.2016.02.019
  CLC：
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[1]崔志宏,刁燕,韩磊,罗经平,王强.机器人工作空间边界提取算法研究[J].机械传动,2016,40(02):85-87.

Cui Zhihong, Diao Yan, Han Lei, et al. Research of the Algorithm for Robot Workspace Boundary Extraction. [J]. 40(2):85-87(2016)
[1]崔志宏,刁燕,韩磊,罗经平,王强.机器人工作空间边界提取算法研究[J].机械传动,2016,40(02):85-87. DOI： 10.16578/j.issn.1004.2539.2016.02.019.

Cui Zhihong, Diao Yan, Han Lei, et al. Research of the Algorithm for Robot Workspace Boundary Extraction. [J]. 40(2):85-87(2016) DOI： 10.16578/j.issn.1004.2539.2016.02.019.

摘要

蒙特卡洛法是对机器人进行工作空间分析的一种简单常用的方法,而工作空间边界点提取是蒙特卡洛工作空间分析中的关键环节。用一种改进算法对一七自由度机器人的工作空间进行边界点提取,提取效率和结果都满足后续工作的要求。通过实验对改进算法的效率和精度进行分析,实验结果证明了改进算法的有效性。

Abstract

The Monte Carlo method is a simple and common way to analyze workspace for robot,and workspace boundary extraction is the key part of Monte Carlo workspace analysis. By using an improved algorithm to extract the workspace boundary of a robot with 7 degrees of freedom,the extraction efficiency and the result both meet the requirement of the following work. The efficiency and accuracy of the improved algorithm are analyzed through experiment,and the result shows the improved algorithm is effective.

关键词

机器人蒙特卡洛法工作空间边界点提取

Keywords

RobotMonte Carlo methodWorkspaceBoundary point extraction

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