关键词: 受限空间, 机械臂, 避障路径规划, 能耗最优

Abstract: In order to explores the optimal maneuver of a five-link robotic manipulator navigating through obstacle within a confined workspace, the Denavit-Hartenberg convention was applied in order to define the configuration of the manipulator. The Euler-Lagrange equation was adopted to describe the dynamics of the manipulator system. Optimal control theory was introduced to yield a least energy consumption path planning control scheme.This study takes Direct Collocation and Nonlinear Program (DCNLP) method to solve the Two-Point Boundary-Value Problem (TPBVP). DCNLP converts TPBVP into nonlinear programming problem and solves it numerical with Symbolic language.The manipulator needs to stay away from the obstacle and come up with a least energy control scheme and a smooth path planning maneuver. According to the simulations with MATLAB software, once the mechanism of obstacle avoidance is turned on,it is obvious that the working time and cost index value keep increasing as the radius of the obstacle sphere gets larger and larger. When the radius exceeds the extreme value,the mission becomes infeasible to complete. This study provides a scheme which foretells the maximal size of the obstacle sphere.

Key words: confined workspace, robotic arm, obstacle avoidance path planning, optimal energy