刘志忠,柳洪义,罗忠,张秀珩.机器人工作空间求解的蒙特卡洛法改进[J].农业机械学报,2013,44(1):230-235.
Liu Zhizhong,Liu Hongyi,Luo Zhong,Zhang Xiuheng.Improvement on Monte Carlo Method for Robot Workspace Determination[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):230-235.
摘要点击次数: 4335
全文下载次数: 3004
机器人工作空间求解的蒙特卡洛法改进   [下载全文]
Improvement on Monte Carlo Method for Robot Workspace Determination   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.01.043
中文关键词:  机器人  工作空间  蒙特卡洛法
基金项目:国家自然科学基金资助项目(51105064);河南省教育厅自然科学研究计划项目(2010A460011)
作者单位
刘志忠 东北大学
河南理工大学 
柳洪义 东北大学 
罗忠 东北大学 
张秀珩 东北大学 
中文摘要:对机器人工作空间求解的蒙特卡洛法的基本原理、算法流程、适用范围等进行了研究,分析了蒙特卡洛法中随机点分布的不均匀性以及内部随机点和边界随机点的不同作用,并总结了立体工作空间随机点分层处理时引起的误差情况。针对传统算法边界处随机点分布不理想的问题,强调边界点的重要性,根据关节空间到工作空间映射的连续性,在先期搜索到的边界点的小邻域内重新生成随机点,从而有效改善了边界处随机点的分布状况,提高了边界点的精确度。针对立体工作空间随机点分层处理带来的误差,采用二次分层的方法,通过减小统计层厚度提高边界点的统计精度。大量的试验证明了算法的有效性。
Liu Zhizhong  Liu Hongyi  Luo Zhong  Zhang Xiuheng
Northeastern University;Henan Polytechnic University;Northeastern University;Northeastern University;Northeastern University
Key Words:Robot  Workspace  Monte Carlo method
Abstract:The principle, the algorithm, and the applicable scope of the Monte Carlo method were analyzed. The non-uniform feature of the distribution of random points in workspace was analyzed, as well as the different signification between the points within the workspace and the points on the boundary. The error resulted from spatial workspace slicing was summarized. In order to optimize the boundary accuracy, based on the continuity of the mapping from joint space to workspace, by generating new random joint values in a sufficiently small neighborhood of the existed random joint values corresponding to the boundary points extracted before, new random points in workspace were generated, which distributed around the corresponding old boundary points. Then, from the newly generated points, more accurate boundary points could be extracted. The approach demonstrated to be effective to improve the boundary precision. To reduce the error caused by the slice thickness, in each slice interval, only a thin layer of points were used. A large number of tests illustrate that the algorithm works well.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器