冗余自由度机械手的避障控制

避障碍物一直是冗余自由度机械手的主要应用 ,本文采用伪逆矩阵法 ,以障碍物和机械手之间的距离的函数作为性能指标函数来解冗余自由度机械手逆解 ,进行避障控制 ,并提出一种简单的计算机械手和障碍物之间的距离方法 ,通过对一个三自由度的平面机械手进行仿真 ,验证了算法的正确性

Obstacle avoidance of redundant robots is an essential useage for redundant robots. In this paper , we present a solution algorithm based on pseudoinverse matrix. In the algorithm, the distance between obstacle and manipulator is used for measurement of the performance index. A simple algorithm of computing the distance between obstacle and manipulator is presented. The simulation results show the feasibility and effectiveness of the algorithm.