A Review of the Space Trajectory Planning of Redundant Manipulator

Gao Han; Zhang Minglu; Zhang Xiaojun

doi:10.16578/j.issn.1004.2539.2016.10.037

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A Review of the Space Trajectory Planning of Redundant Manipulator

更新时间：2022-10-20

- A Review of the Space Trajectory Planning of Redundant Manipulator
- Vol. 40, Issue 10, Pages: 176-180(2016)
- 作者机构：
  
  1. 河北工业大学机械工程学院
  2. 哈尔滨工业大学机器人技术与系统国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.10.037
  CLC：
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[1]高涵,张明路,张小俊.冗余机械臂空间轨迹规划综述[J].机械传动,2016,40(10):176-180.

Gao Han, Zhang Minglu, Zhang Xiaojun. A Review of the Space Trajectory Planning of Redundant Manipulator. [J]. 40(10):176-180(2016)
[1]高涵,张明路,张小俊.冗余机械臂空间轨迹规划综述[J].机械传动,2016,40(10):176-180. DOI： 10.16578/j.issn.1004.2539.2016.10.037.

Gao Han, Zhang Minglu, Zhang Xiaojun. A Review of the Space Trajectory Planning of Redundant Manipulator. [J]. 40(10):176-180(2016) DOI： 10.16578/j.issn.1004.2539.2016.10.037.

摘要

冗余机械臂可以利用多余的自由度避开障碍物,而又不影响末端执行器的操作。因此与一般非冗余机械臂相比,冗余机械臂处理避障问题具有明显优势。目前关于冗余机械臂空间轨迹规划的研究还未形成一套整体的框架归类,因此有必要对现有研究成果进行系统分析和深入总结。文中探讨了冗余机械臂空间轨迹规划的基本原理和实际应用,将其按照建模原理不同划分为五大类,详细归纳了这些方法的优势和不足,并对冗余机械臂空间轨迹规划未来发展趋势进行了构想和展望。

Abstract

The redundant manipulator can use redundant degree of freedom to avoid obstacles,but it does not affect the operation of the end effecter. So comparing with general non- redundant manipulator,the redundant manipulator has obvious advantages for dealing with obstacle avoidance. Recently,the space trajectory planning research of redundant manipulator has not yet formed a set of overall framework. It is necessary to analysis and in- depth summary the existing research results of system. The space trajectory planning of redundant manipulator basic theory and practical application are discussed. According to the different modeling principle,it is divided into five categories. The advantages and disadvantages of these methods are Summed up in detail and redundant manipulator trajectory planning conception and the future development trend are prospected.

关键词

机械臂冗余轨迹规划避障

Keywords

ManipulatorRedundantTrajectory planningObstacle avoidance

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