机器人技术基础结业论文六自由度机械臂的运动设计姓名：彭小波学号：11004020121班级：110040201学院：机械工程学院指导老师：王黎明2013.121目录摘要.........................................................................................................................1前言.........................................................................................................................11、位姿与指尖的空间位置之间的关系..............................................................22、目标位姿预测分析..............................................................................32．1目标位姿预测................................................................................32．2运动规划............................................................................................32．3问题求解..............................................................................33、受限目标到达及避障分析...............................................................................83.1避障方法......................................................................................83.2问题求解.......................................................................................84、沿路线运动分析..................................................................................104.1沿路线运动...............................................................................................104.2问题求解..................................................................................................105、误差分析............................................................................................................115.1算法误差...................................................................................................115.2误差精度...................................................................................................116、结语...................................................................................................................12参考文献.................................................................................................................131六自由度机械臂的运动设计摘要为了使六自由度机械臂完成特定的动作,需要设计计算相应的指令序列.首先计算了机械臂位姿与指尖位置之间的关系公式,然后针对机械臂的到达问题、沿曲线运动问题和避障问题,分别提出目标位姿预测、曲线离散到达和受限目标到达三种解决方法,其中涉及的关键算法是自适应搜索法,该方法具有效率高、精度高、适用范围广的特点.在产生指令序列时采用贪心算法.通过以上方法得到的执行结果误差很小(<018mm),同时搜索收敛速度也很快.关键词:机械臂;运动规划;自适应搜索;位姿预测TheTrajectoryPlanningofa6-DOFManipulatorAbstractTomakethe62DOFmanipulatortofinishsomekindofjobs,weneedtopreparetheinstructionsequencestoinput.Firstly,thispapergivesthefunctionwhichdecidestherelationshipbetweentheposeofthemanipulatorandthepositionoftheFingertip.Andtheninordertosolvethethreejobs:theproblemofarrivingatsomepoint,theproblemofmovingalongaspecialcurve,andtheproblemofavoidingobstacles,wedesignthreemethods:posespeculation,discretelyarriving,andconstrainedarriving.Themainalgorithmisadaptivesearch,whichishighlyefficient,highlyaccurateanditcanbeusedinmanysituations.WhencalculatingtheinstructionsweusegreedyAlgorithm.Allofthisresultsinveryshorttimesearchingandverylittleerrors(<0.8mm).Keywords:manipulator;trajectoryplanning;adaptivesearch;posespeculation前言：一个六...
