機(jī)器人的運(yùn)動(dòng)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(xué)碩嘗掌位論炎機(jī)器人的運(yùn)動(dòng)規(guī)劃研究與基于Open6L的仿真研究生姓名：壁墊導(dǎo)師姓名：一塞壘]墼攫一‘”請(qǐng)學(xué)位級(jí)劃』』L盈——論文提交R期』業(yè)生生且—旦一學(xué)位j蔓丁單位盞j_L盤j已一——答辯委員會(huì)主嘉—冬女二g垂兵——學(xué)科釧E名稱J煎撾里王蘭翌一芘文替辯|；=_期』業(yè)生——學(xué)位授rcd蜘巡生且一旦一評(píng)聞n筘?fù)务次嚳娋挅|南大學(xué)碩I’學(xué)位論文AbstractInrecent40yearsrobo

2、tasthehuman’sbiginventionhasspeedintoallkindsofoccupationhlongwiththeimprovementoftheflexibleandautonomoussystem，theredundantoperationwasregardedmoveandmoreimportantbythescholarsandthemanufacturesUptonowtherehavebeennume

3、rousstudiesaboutredundantrobotsMostofthemweretheoryresearches，mainlyonkinematicalplanningandoptimization，especiallyinthecaseofobstacleavoidanceItshowsthatthekinematicalplanningplayaveryimportantroleintheresearchfieldofre

4、dundantrobotsInthisthesis，someissuesonpathplanningofkinematicalredundantrobotsarestudiedAccordingtoaplanar3DOFrobot，kinematicscharacteristicincludingboththepositivekinematicsandtheinversekinematicsoftherobotareinvestigat

5、edToobtaintheinversekinematicsoftherobot，amodeloftheartificialpotentialfield(APF)isbuiItThemathematicalsolutionisobtainedTheconceptofthevirtualobstacledisplaceisintroducediuthethesisAndapathplanningalgorithmbasedonthevir

6、tualobstacledisplaceisinvestigatedFortheconvenienceofresearch，itisnecessarytodevelopanemulatorsystemforredundantrobotsAn0penGLbasedsimulatorisdevelopedinthethesisThesimulationresultofthetheoryresearchesispresentedwithade