无方向约束的工业机器人障碍物自主规避控制方法

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引用格式：，.无方向约束的工业机器人障碍物自主规避控制方法[J].现代电子技术，2025，48（18）：172-176

I图分类号：TN911.7-34；TP242 文献标识码：A 文章编号：1004-373X（2025）18-0172-05

Methodofautonomousobstacleavoidancecontrol for industrialrobot withoutdirectionconstraint

HE Meng，WANG Jian （ChinaUniversity of Miningand Technology，Xuzhou ，China）

Abstract：Inorder to enhance theflexibilityandadaptabilityof industrial robots incomplex dynamicenvironments，and reduceproductioninteruptionscausedbyobstacles，amethodofautonomousobstacleavoidancecontrolforindustrialrobots withoutdirectionalconstraintisproposed.Thedyamicworkingareaofindustrialobotsisconstructed，inwhichtheultrasonic technology isusedtoindependentlyperceiveobstacles intheworkingenvironmentandobtainthedistanceandrelativeangle informationbetweentherobotsandobstacles.Theautomaticobstacleavoidancecontrolmodelof industrialrobotisestablished accordingtothefuzzycontroltheory.Thedistanceandrelativeanglebetwen therobotandtheobstacleafterverificationand flteringby theuppercomputerareusedastheinputandareinputintothefuzzycontrolmodule.Inthismodule，therobot obstacle avoidancecontrolsignalisoutputafterfuzzy，reasoningandclearoperation，soastodefinetherobot speedadjustment rangeandsteeringanglerange.Theobstacleavoidancecontrolsignalistransmitedtothemotordriveroftherobotoadjustthe motionstateoftherobotandrealizetheautonomousobstacleavoidancecontrol without directionconstraints.Theexperimental resultsshowthattheproposedmethodcaneffectivelyrealizetheautonomousobstacleavoidancecontrolof industrialrobots withoutdirectionalconstraints，andcanstillmaintainstableobstacleavoidanceperformanceinthefaceofcomplex working environments，showing strong environmental adaptability.

Keywords：industrialrobot;autonomousobstacleavoidance;nodirectionconstraint;ultrasonic technology；pathplanning; avoidance control

0 引言

工业机器人作为自动化生产线的核心设备，周围通常会存在各种障碍物[1-2]。（剩余5888字）