A framework for the intelligent motion planning of robot manipulators

机器人机械臂智能运动规划框架

• 批准号: 155147-2008
• 负责人: Mayorga, Rene
• 金额: $ 1.31万
• 依托单位: University of Regina
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=504809
• 关键词: framework; intelligent; motion; planning; robot

Over the years research in robot manipulators has been increasing rapidly. This has led to the development of efficient conventional methodologies for simple industrial robot manipulators capable of performing simple tasks. However, there is already a great need in the Service, Industry, and Space, sectors for complex robotic systems (such as manipulators with many degrees of freedom, multi-manipulator systems, and/or robotic systems being re-configurable) that can perform complicated tasks. Furthermore, many of the developed conventional approaches turn out not to be entirely generic and their efficiency for complex robotic systems is not considered conclusive for on-line and truly real-time operations. Consequently, it is necessary to devote research efforts to the development of novel methodologies for complex robotic systems.

近年来，对机器人操作器的研究迅速增加。这导致了能够执行简单任务的简单工业机器人操纵器的有效传统方法的发展。然而，在服务、工业和空间领域中已经存在对于可以执行复杂任务的复杂机器人系统（诸如具有多个自由度的操纵器、多操纵器系统和/或可重新配置的机器人系统）的巨大需求。此外，许多开发的传统方法并不是完全通用的，它们对复杂机器人系统的效率并不被认为是决定性的在线和真正的实时操作。因此，有必要致力于研究工作的复杂机器人系统的新方法的发展。