基于过路径点的三次多项式插值函数的仿蜘蛛机器人足路径规划

发布时间：2018-02-07 14:30

本文关键词： 蜘蛛六足机器人 D-H建模过路径点的三次多项式插值路径规划　出处：《机械传动》2017年07期 　论文类型：期刊论文

【摘要】：针对复杂隧道环境中机器人的避障问题,提出使用过路径点的三次多项式插值算法对机器人足运动路径进行规划。设计了一个能在隧道空间灵活运动的18关节六足仿蜘蛛机器人,运用D-H建模方法对仿蜘蛛机器人足进行运动学建模,并推导了逆运动学方程式,基于蒙特卡洛法对足端可达空间进行仿真分析,并基于过路径点的三次多项式插值算法对机器人足避障轨迹进行路径规划仿真。仿真结果表明,在仿蜘蛛机器人足路径规划中应用过路径点的三次多项式插值方法能保证步行足运动动作的平滑性,从而避免了因力矩突变引起的冲击作用,同时足端能通过路径点以满足避障要求。
[Abstract]:Aiming at the obstacle avoidance problem of robot in complex tunnel environment, In this paper, a cubic polynomial interpolation algorithm with path points is proposed to plan the path of robot foot motion, and an 18-joint six-legged spider imitation robot is designed, which can move flexibly in tunnel space. The D-H modeling method is used to model the kinematics of the spider robot foot, and the inverse kinematics equation is derived. Based on the Monte Carlo method, the reachable space of the foot is simulated and analyzed. Based on the cubic polynomial interpolation algorithm over path point, the path planning simulation of robot foot obstacle avoidance trajectory is carried out. The simulation results show that, The cubic polynomial interpolation method, which is used in the path planning of spiders, can ensure the smoothness of the walking foot motion, thus avoiding the impact caused by the sudden change of torque. At the same time, the foot can pass through the path point to meet the obstacle avoidance requirements.
【作者单位】：重庆交通大学机电与车辆工程学院;
【基金】：国家自然科学基金(51375519) 重庆市研究生科研创新基金(CYS15181)
【分类号】：TP242

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