为6自由度机械臂设计高效路径规划，确保末端执行器沿指定轨迹平滑运动。
An Effective Trajectory Planning and an Optimized Path Planning for a 6-Degree-of-Freedom Robot Manipulator
- 基于计算机代数方法，分三步优化路径与关节配置。
- 通过图的最短路径求解，找到各关键点最优逆运动学解。
- 实验验证方法有效，适合工业机械臂轨迹规划场景。
针对特定6自由度机械臂，提出一种基于计算机代数的路径规划优化方法。假设给定末端执行器需遵循的路径由一系列线段构成，并可在每个路径点求解逆运动学问题。方法包含三步：首先计算末端执行器在特定构型下的可达区域；其次，在线段上寻找轨迹及对应的关节配置序列；最后，将各路径点逆运动学解的选择问题转化为图的最短路径问题，利用Dijkstra算法求得最优组合。实验验证了该方法的有效性。
原文摘要 · Abstract (English)
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a path in the form of a set of line segments that the end-effector should follow. We also assume that we have a method to solve the inverse kinematic problem of the manipulator at each via-point of the trajectory. The proposed method consists of three steps. First, we calculate the feasible region of the manipulator under a specific configuration of the end-effector. Next, we aim to find a trajectory on the line segments and a sequence of joint configurations the manipulator should follow to move the end-effector along the specified trajectory. Finally, we find the optimal combination of solutions to the inverse kinematic problem at each via-point along the trajectory by reducing the problem to a shortest-path problem of the graph and applying Dijkstra's algorithm. We show the effectiveness of the proposed method by experiments.
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