摘要
A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.
介绍了机器人智能路径规划系统 -RIPPS。该系统可用作机器人离线编程工具。系统由几何建模 ,运动学建模及路径规划三部分构成。用户利用其几何建模功能建立分布着障碍物体的机器人工作环境 ,通过输入参数利用机器人运动学建模功能来定义机器人操作机。系统的路径规划器根据指定的机器人起始位姿及目标位姿产生准优化路径 ,首先将障碍物体变换到位姿空间中 ,再在位姿空间中进行路径搜索。作者已在 SGI/4 D70工作站上进行了有效的仿真研究 ,下一步工作是在商业化机器人上实现该规划系统。
