【摘要】：原有的橋式起重機(jī)路徑規(guī)劃算法完全仿照智能機(jī)器人路徑規(guī)劃的方法,得到的最優(yōu)路徑在實(shí)際應(yīng)用中不能滿(mǎn)足人們的需求,自動(dòng)轉(zhuǎn)載消耗的時(shí)間比人工手動(dòng)轉(zhuǎn)載還要長(zhǎng)。在分析橋式起重機(jī)運(yùn)行系統(tǒng)的特點(diǎn)后,通過(guò)柵格法限制最優(yōu)路徑的轉(zhuǎn)角角度,同時(shí)將路徑的拐點(diǎn)數(shù)轉(zhuǎn)換為長(zhǎng)度,最終得到了用時(shí)最短的最優(yōu)路徑。通過(guò)仿真和實(shí)驗(yàn),并與原有的方法相比較,證明了改進(jìn)的算法能夠在路徑規(guī)劃環(huán)節(jié)提高橋式起重機(jī)自動(dòng)轉(zhuǎn)載的效率。
[Abstract]:The original path planning algorithm of bridge crane is completely modelled on the intelligent robot path planning method, and the optimal path can not meet the needs of people in practical application, and the time of automatic reprinting is longer than manual reprinting. After analyzing the characteristics of the overhead crane running system, the angle of the optimal path is limited by grid method, and the number of inflection points of the path is converted to the length at the same time, and the shortest optimal path is obtained. Through simulation and experiment, and compared with the original method, it is proved that the improved algorithm can improve the efficiency of automatic reloading of bridge crane in the link of path planning.
【作者單位】： 第二炮兵工程大學(xué);
【分類(lèi)號(hào)】：TH215

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