機器人的運動規(guī)劃研究與基于OpenGL的仿真.pdf

1、_，磬翌。一uDc—鱧L乎‘，：堂5叫一東南大學碩嘗掌位論炎機器人的運動規(guī)劃研究與基于Open6L的仿真研究生姓名：壁墊導師姓名：一塞壘]墼攫一‘”請學位級劃』』L盈——論文提交R期』業(yè)生生且—旦一學位j蔓丁單位盞j_L盤j已一——答辯委員會主嘉—冬女二g垂兵——學科釧E名稱J煎撾里王蘭翌一芘文替辯|；=_期』業(yè)生——學位授rcd蜘巡生且一旦一評聞n筘撐翊螄繆緬東南大學碩I’學位論文AbstractInrecent40yearsrobo

2、tasthehuman’sbiginventionhasspeedintoallkindsofoccupationhlongwiththeimprovementoftheflexibleandautonomoussystem，theredundantoperationwasregardedmoveandmoreimportantbythescholarsandthemanufacturesUptonowtherehavebeennume

3、rousstudiesaboutredundantrobotsMostofthemweretheoryresearches，mainlyonkinematicalplanningandoptimization，especiallyinthecaseofobstacleavoidanceItshowsthatthekinematicalplanningplayaveryimportantroleintheresearchfieldofre

4、dundantrobotsInthisthesis，someissuesonpathplanningofkinematicalredundantrobotsarestudiedAccordingtoaplanar3DOFrobot，kinematicscharacteristicincludingboththepositivekinematicsandtheinversekinematicsoftherobotareinvestigat

5、edToobtaintheinversekinematicsoftherobot，amodeloftheartificialpotentialfield(APF)isbuiItThemathematicalsolutionisobtainedTheconceptofthevirtualobstacledisplaceisintroducediuthethesisAndapathplanningalgorithmbasedonthevir

6、tualobstacledisplaceisinvestigatedFortheconvenienceofresearch，itisnecessarytodevelopanemulatorsystemforredundantrobotsAn0penGLbasedsimulatorisdevelopedinthethesisThesimulationresultofthetheoryresearchesispresentedwithade