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中文摘要：
针对模块化机械臂在运行时可能与工作空间中的障碍物发生碰撞的问题，提出一种基于遗传算法的避障_矿路径规划算法。首先采用D—H（Denavit-Hartenberg）表示法对机械臂进行建模，并进行运动学和动力学分析，建立机械臂运动学和动力学方程。在此基础上，利用遗传算法分别在单／多个障碍物工作环境中，以运动的时间、移动的空间距离和轨迹长度作为优化指标，实现机械臂避障路径规划的优化。通过仿真验证了基于遗传算法的机械臂避障路径规划算法的有效性与可行性，该算法提高了运行中的机械臂有效避开工作空间中障碍物的效率。
英文摘要：
To solve the problem that modular manipulator might collide with the obstacles during the run time in its work space, this paper proposed path planning for manipulator to avoid obstacle based on genetic algorithms. Firstly, it modeled the mobile manipulator with the D-H method, analyzed the kinematics and dynamics, and also built up kinematics and dynamics equations. On this basis, in the environment with single or multiple obstacles, took the execute time, spatial distance and traj- ectory length as optimizations, and achieved a manipulator obstacle avoidance path planning optimizgtion. The experiment re- sult shows that the effectiveness and feasibility of the proposed path planning based on genetic algorithms for manipulator to a- void obstacle are verified, so this algorithm can improve the efficiency of manipulator to avoid obstacle in the workspace.
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