一种可变形桁架避障规划方法*

doi:10.3969/j.issn.1674-1579.2017.05.006

Abstract

Abstract: Abstract：To design the obstacle avoidance planning method for variable geometry truss (VGT), an equivalent manipulator model is proposed. The redundant problem in the forward kinematics of single VGT is analyzed and a truss geometry is obtained with the only solution if each varied link is specified. The obstacle avoidance planning for the equivalent model is designed using genetic algorithm and optimized variables of equivalent model are obtained. Accordingly, the length of each varied link is obtained and the geometry of VGT could also be computed with the forward kinematics. In the optimized geometry of VGT, distances among middle points of fixed links remain constant and angle differences among VGT modules are small. The effectiveness of the proposed algorithm is shown via numerical simulations.

Key words: Keywords：variable geometry truss, obstacle avoidance, genetic algorithm, equivalent manipulator model

CLC Number:

中图分类号： V448.2

DENG Ya, WANG Ze-Guo, ZHANG Jin-Jiang. A Method on Obstacle Avoidance Planning for Variable Geometry Truss[J]., 2017, 43(5): 37-42.

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URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2017.05.006

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2017/V43/I5/37

References

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A Method on Obstacle Avoidance Planning for Variable Geometry Truss

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