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Research on Manipulator and Path Planning

Author: DuanMei
Tutor: LiuJinHao
School: Beijing Forestry University
Course: Forest Engineering
Keywords: Manipulator Avoidance C- space Raster A * algorithm
CLC: S776
Type: Master's thesis
Year: 2009
Downloads: 292
Quote: 1
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Abstract


With the development of technology change and forestry practices , development suited to China 's intensive plantation tending, harvesting equipment, multi- joint operation has become China's forestry development is a basic trend, while the arm as high-tech products , will become forestry production equipment of the backbone. Based on \This article first manipulator kinematics analyzed theoretically , established under the MATLAB7.0 platform manipulator model and kinematics simulation . Then for the robot path planning complexity increases exponentially with the problem of freedom introduced cell decomposition method, the parallel processing method greatly improves the planning efficiency. Papers determine joint space planning space, the use of the joint and link manipulator collision with an obstacle boundary feature to achieve from the workspace into the joint space mapping , and further converted to raster information . Complex spatial information thus converted into a simple two-dimensional plane information . Finally, heuristic A ~ * search algorithm to achieve a local environment model robot path planning and obstacle avoidance . Simulation results show that the obstacle avoidance path planning algorithm to generate the joint angles to control robotic arm , to ensure that the target position is reached manipulator while avoiding obstacles. This topic will be used in robotics and artificial intelligence techniques forestry engineering field , aimed to achieve multi-functional hardware for the future forest caiyu manipulator joint operation real-time path planning system basis , thereby improving the efficiency of forestry production .

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CLC: > Agricultural Sciences > Forestry > Forest Engineering and forestry machinery > Forestry machinery
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