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題 名 | Automatic Trajectory Generation for Puma Type Robots=PUMA型機械手運動路徑自動規劃之研究 |
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作 者 | 李祥林; | 書刊名 | 明志工專學報 |
卷 期 | 26 1994.05[民83.05] |
頁 次 | 頁97-111 |
分類號 | 448.94 |
關鍵詞 | 避免踫撞之路徑規劃; 機械手; 非線上程式規劃; Collision-free trajectory planning; Robot; Off-line programming; |
語 文 | 英文(English) |
中文摘要 | 利用非線上程式規劃方式,規劃撰寫機械手作業之控制程式具有優點如下:(1)在撰寫程式時,機械手可執行其他作業;(2)彈性較大;(3)可藉最佳化之動作路徑規劃,使機械手運作效率提高。但是此法仍有缺失,其常見者如:(1)不同之作業需不同之程式設計技能;(2)缺乏標準之程式語言;(3)定位誤差;(4)偵錯時須長時間佔用機械手;等等。若吾人能在動作路徑規劃時考慮作業之實際狀況,如工作空間、機械手之機構學與動力學及避免碰撞等因素,則可大幅避免上述之缺點。本研究以PUMA 560型機械手為研究對象,發展出近似最佳解之動作路徑規劃方法。在本研究中最佳路徑規劃數學模式以一同時具有二目標函數(最小化動作時間及所需之能量)及作業層面之限制條件(相對位移、速度及加速度、驅動機構之能量及避免碰撞)所組成。在利用修正模擬退火演算法解得上述數學模式之近似最佳解後,發現本研究所提出之規劃及解題方法具有相當之優越性。 |
英文摘要 | The off-line programming method for robotic systems has such advantages as (1) the robot is free during the major portion of the programming stage; (2) it provides more flexibility; (3) highly efficient operation can be achieved by carefully, or optimally, planning the trajectories. Nevertheless, is has several drawbacks, for example, (1) large gap in required skills; (2) the lack of standardization in programming languages; (3) positioning errors, i.e. programming languages do not take the robot loads into account; and (4) the equipment will be tied up in debugging stage. The disadvantages can be overcome if the trajectories of motions are planned in such a way that the geometry of the work envelope, kinematics, dynamics, collision avoidance, etc., are under consideration. This research demonstrates an approach which plans the near optimal trajectories, in terms of time and energy consumption, of a PUMA 560 robot subject to the constraints of work envelope, kinematics, dynamics, and collision avoidance. A collision-free trajectory planning model with dual objective functions, minimizing time requirement and energy consumption, and subject to the task level constraints, i.e. relative motion and power constraints, is formulated. The solution procedure, called the modified simulated annealing algorithm (MSA), is constructed. A numerical example of planning the motion trajectories of a PUMA 560 robot shows advantages of the proposed planning scheme. |
本系統中英文摘要資訊取自各篇刊載內容。