摘要
介绍一种新的最短避碰路径搜索方法.在整个搜索过程中,启发式方法作为一种指导原则帮助机器人建立并发展智能,从而使机器人能够选择最短路径有可能经过的微型空间进行搜索.这种方法在5R“金钥匙”机器人上得到实现.
A highly efficient path searching approach is described in thispaper to find the minimum distance collision-free path for an industrial robotmanipulator.In the whole process,the heuristic reasoning serves as thelaw to help the robot to develop its intelligence for choosing the approriateminicells for searching,thus enabling the robot to find the minimum distancecollision-free path in a very short time.The method has been successfullyapplied to a Golden Key 5R robot.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1989年第1期40-48,共9页
Journal of Shanghai Jiaotong University
