The scientific problem of constructing the optimal spatial trajectory of the gripper relative to the fixed base of the manipulator strut is considered taking into account the obstacle bypass. A new hybrid ABI method has been developed for constructing the optimal trajectory of the manipulator's grip taking into account obstacle avoidance. The ABI hybrid method has six main steps. The method combines a finite element mesh approach, a graph model construction method, A * method for finding the minimum path for a graph, a B-spline interpolation method, polynomial approximation, and a matrix method. The practical construction of the optimal trajectory of the grip of the manipulator is taking into account the avoidance of obstacles. A theorem is presented that determines the relationship between the length of time the manipulator grip moves in equally accelerated and equally slow sections. The theorem is used for the subsequent optimization of the manipulator travel time in sections.
A Hybrid Method for Constructing Optimal Motion Path for Robot Manipulators While Avoiding Obstacles
2020-04-25
Proceedings of the 26th FRUCT conference 26 507-513
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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