CAJ | 학술논문

本文以离线运动规划方式，使用计算机程序搜寻二维机械手臂的避碰路径的平面直角坐标，以便迅速且合理地求得与避碰路径对应的手臂关节角度。在避碰搜寻过程中，以基本的几何形体代替机械手臂与障碍物的外形来检查手臂的各杆臂是否与障碍物发生碰撞的现象。最后，使用MATLAB软件建立机械手臂与障碍物的实体模型，并读取由程序所产生的关节角度，以进行机械手臂的避碰运动模拟，同时提供视觉上验证避碰路径的可行性。
본문이리선운동규화방식，사용계산궤정서수심이유궤계수비적피팽로경적평면직각좌표，이편신속차합리지구득여피팽로경대응적수비관절각도。재피팽수심과정중，이기본적궤하형체대체궤계수비여장애물적외형래검사수비적각간비시부여장애물발생팽당적현상。최후，사용MATLAB연건건립궤계수비여장애물적실체모형，병독취유정서소산생적관절각도，이진행궤계수비적피팽운동모의，동시제공시각상험증피팽로경적가행성。
This paper uses computer simulation approach to search the Cartesian coordinates of an collision-avoidance path for a two-dimensional robot arm.This approach is essential an off-line mtion planning .The joint angles of the robot arm corresponding to a successful path can be efifciently and reasonably obtained by the basic geometry of high school level math,which is used to solve the inverse kinematics problem.In the search process,simple geometric bodies instead of the real shapes of the robot arm and obstacles are used to check the collision between the robot links and obstacles.Finally,using MATLAB software constructs the solid model of the robot arm and obstacles and simulates the collision-avoidance motion by following the path output from the computer program.Using MATLAB also visually provides a way of verifying the feasibility of collision of collision-avoidance paths.