摘要
为研究末端执行器对机器人实际工作空间的影响,以及机器人关节之间、末端执行器与机器人关节之间的碰撞对机器人工作空间的影响,文章以6自由度工业机器人为研究对象,研究获取带末端执行器的机器人无碰撞工作空间。提出采用蒙特卡洛法随机生成大量机器人关节转角值,并用这些关节转角值更新机器人虚拟样机的模型位置姿态,然后采取混合包围体层次树碰撞检测算法判断机器人自身关节及末端执行器与机器人关节之间是否发生碰撞来分析机器人的无碰撞工作空间,获取工作空间中的碰撞点,得到机器人的无碰撞工作空间。结果表明本文提出的方法能够有效获取带末端执行器的机器人无碰撞工作空间。
To study the end effector＇ s influence on actual workspace of the robot manipulator, so at the same time the factors such like the collision between the robot joints, and the collision between end effector and robot joints were take into account to analyze the influence of the robot workspace. This paper makes a research on the collision-free workspace for the robot manipulator with an end effector by using a 6 DOF in- dustrial robot as the object. This paper proposes a method by using the monte carlo method to generate a lot of robot joint angles values randomly, and use those robot joint angles to update the robot virtual prototype＇ s position and attitude respectively, then use mixed bounding volume hierarchy tree collision detection algo- rithm to detect the collision among the robotg own joints and the collision between the end effector and robot joints to analyze robot collision-free workspace. In the end, it accesses the collision point in the robot ma- nipulator＇ s workspace and gets collision-free workspace of the robot manipulator. The results show that the proposed method can effectively get collision-free workspace for the robot manipulator with an end effector.
出处
《组合机床与自动化加工技术》
北大核心
2016年第2期16-19,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(51065005)
汽车动力传动与电子控制湖北省重点实验室开放基金(ZDK1201408)
关键词
工业机器人
蒙特卡洛法
工作空间
碰撞检测
industrial robot
monte carlo method
workspace
collision detection
