机械研究与应用
機械研究與應用
궤계연구여응용
MECHANICAL RESEARCH & APPLICATION
2014年
6期
54-57
,共4页
多机器人%边界条件%可行域%蒙特卡罗算法
多機器人%邊界條件%可行域%矇特卡囉算法
다궤기인%변계조건%가행역%몽특잡라산법
multi-robot%boundary conditions%feasible region%Monte Carlo algorithm
针对多机器人协同吊运某物体的闭运动链的协调系统，定义了位置可行域和姿态可行域。对于定绳长、固定基多机器人联合吊运系统，通过物体的受力分析确定出可行域边界受力条件，由物体位置反解机器人末端位置得出可行域的大致范围。在Matlab中，基于蒙特卡罗算法，求解出精确的可行域。该方法避免了直接由工业机器人关节角求解可行域时变量太多、运算复杂的问题，为实现特定吊运轨迹的多机器人吊运系统构型设计提供了参考价值。
針對多機器人協同弔運某物體的閉運動鏈的協調繫統，定義瞭位置可行域和姿態可行域。對于定繩長、固定基多機器人聯閤弔運繫統，通過物體的受力分析確定齣可行域邊界受力條件，由物體位置反解機器人末耑位置得齣可行域的大緻範圍。在Matlab中，基于矇特卡囉算法，求解齣精確的可行域。該方法避免瞭直接由工業機器人關節角求解可行域時變量太多、運算複雜的問題，為實現特定弔運軌跡的多機器人弔運繫統構型設計提供瞭參攷價值。
침대다궤기인협동조운모물체적폐운동련적협조계통，정의료위치가행역화자태가행역。대우정승장、고정기다궤기인연합조운계통，통과물체적수력분석학정출가행역변계수력조건，유물체위치반해궤기인말단위치득출가행역적대치범위。재Matlab중，기우몽특잡라산법，구해출정학적가행역。해방법피면료직접유공업궤기인관절각구해가행역시변량태다、운산복잡적문제，위실현특정조운궤적적다궤기인조운계통구형설계제공료삼고개치。
Aiming at the closed kinematic chain to lift an object of the multi-robot coordination system, the feasible regions of position and gesture are defined.For the multi-robot joint lifting system of certain cord length and fixed base, stress conditions of the feasible region boundary could be determined by analyzing the stress of the object, and range of feasible region could be roughly obtained from the object position inverse solution of robot end position.In MATLAB, the precise feasible region could be got based on the Monte Carlo algorithm.This method avoids many problems caused by the industrial robot joint angle to solve the feasible region, such as too many variables, and complex computing, and it provides a reference to the configuration design of multi-robot system with a trajectory dispatching.
