| 大型地下埋设管道智能施工机械手的路径规划研究 |
| |
| 引用本文： | 杨祖一. 大型地下埋设管道智能施工机械手的路径规划研究[J]. 辽宁省交通高等专科学校学报, 2010, 12(3): 16-18 |
| |
| 作者姓名： | 杨祖一 |
| |
| 作者单位： | 沈阳建筑大学交通与机械工程学院,辽宁沈阳,110168 |
| |
| 摘 要： | 针对机械手的动态不均匀性和运动学冗余性特点,基于人工势场理论与模糊理论,利用模糊系统逼近调和函数的梯度的方法进行路径规划,通过仿真来检验该方法的可行性。结果表明:该方法具有明显的柔性和自适应性。表现出某种智能特征,实现了路径的寻优规化。
|
| 关 键 词： | 机械手 路径规划 人工势场理论 模糊理论 |
A Study of Path Planning for Intelligent Manipulator to Install Buried Large Concrete Pipes |
| |
| YANG Zu-yi. A Study of Path Planning for Intelligent Manipulator to Install Buried Large Concrete Pipes[J]. Journal of Liaoning Provincial College of Communications, 2010, 12(3): 16-18 |
| |
| Authors: | YANG Zu-yi |
| |
| Abstract: | Aim at manipulator＇s characteristics of un-continuous dynamics and motion redundancy, based on artificial potential theory and fuzzy theory, a way of using fuzzy system to approach grads of attempter function was proposed for path planning. According to the simulation, the way was feasible. The simulation result shows that the way has the obvious character of compliance and adaptability, and some intelligence. It can optimize path planning. |
| |
| Keywords: | manipulator path planning artificial potential theory fuzzy theory |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
