期刊论文

Li, Lijun(junlili1122@163.com)

中文

农业工程学报

1002-6819

2017

33

4

55-62

10.11975/j.issn.1002-6819.2017.04.008

(201104090):国家林业公益性项目 (2014207):湖南省高校科技创新团队支持计划 (CX2016B326):湖南省研究生科研创新项目 (CX2016B12):中南林业科技大学研究生科技创新基金项目

本校为第一且通讯机构

针对混联采摘机器人在非结构性环境中进行避障采摘作业的要求,该文提出了一种基于关节构形空间的混联采摘机械臂避障路径规划算法。根据机械臂和障碍物的几何特征,对机械臂及障碍物模型进行合理简化,通过分析末端执行器目标点和串联机械臂结构参数选取合适的并联机械臂动平台目标点,然后采用遍历法构建串联机械臂关节构形空间,并利用快速扩展随机树(rapidly-exploring random tree,RRT)算法搜寻串联机械臂无撞路径,再通过同样的方法获得并联机械臂关节空间障碍物映射模型和无撞路径,最后综合串、并联机械臂的无撞路径,获得混联机械臂整体的避障路径。仿真和试验结果表明,文中所提出的算法搜索的...

Aiming to realize the obstacle avoidance of fruit harvesting robot manipulator in unstructured environments, a kind of obstacle avoidance path planning algorithm of hybrid harvesting manipulator based on joint configuration space was proposed in this study. The structure of the 2P4R hybrid camellia oleifera fruit harvesting robot manipulator composed of a palletizing manipulator and a spherical wrist serial manipulator was simplified, and the link connecting the palletizing manipulator and serial manipulator was named as moving platform. The manipulator could accomplish six kinds of movements,...