查选芳, 杜洪流, 王心丰, 金万敏. 用对偶映射原理规划和分析机器人轨迹运动[J]. 机器人, 1993, 15(1): 16-21.
引用本文: 查选芳, 杜洪流, 王心丰, 金万敏. 用对偶映射原理规划和分析机器人轨迹运动[J]. 机器人, 1993, 15(1): 16-21.
ZHA Xuanfang, DU Hongliu, WANG Xinfeng, JIN Wanmin. ROBOT TRAJECTORY PLANNING AND MOTION ANALYSIS BY USING THEORY OF DUAL TRANSFORMATION[J]. ROBOT, 1993, 15(1): 16-21.
Citation: ZHA Xuanfang, DU Hongliu, WANG Xinfeng, JIN Wanmin. ROBOT TRAJECTORY PLANNING AND MOTION ANALYSIS BY USING THEORY OF DUAL TRANSFORMATION[J]. ROBOT, 1993, 15(1): 16-21.

用对偶映射原理规划和分析机器人轨迹运动

ROBOT TRAJECTORY PLANNING AND MOTION ANALYSIS BY USING THEORY OF DUAL TRANSFORMATION

  • 摘要: 在研究机器人广义位姿的基础上,依据从基坐标系列任一坐标系的旋转变换可以通过绕基坐标系中的瞬时转动轴的等效旋转来实现的原理,提出用等效角位移矢量来描述机器人姿态以及用姿态旋量及其Plücker线坐标来描述机器人的位姿.依据对偶数代数理论中关于三维欧氏空间中的有向直线与三维对偶空间中的点具有一一对应关系的对偶映射原理,在对偶空间中对姿态旋量所映射的点进行规划,从而找到一种机器人位姿轨迹生成和运动分析新方法,文末算例说明上述原理和推导的正确性.

     

    Abstract: On the basis of study on generalized pose and the theorem that rotation transformation from the base coor-dinate to an arbitrary one can be described as a single equivalent rotation about a given rotational axis,it isproposed that the orientation of robot can be described by using the vector of equivalent angular displace-ment.The concept of pose motor and its Plücker linear coordinate are established and used to describe the po-sition and orientation of robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corresponding to the posemotors are developed in dual space.A new method of robot CP motion analysis and trajectory planning is pre-sented.The correctness of the theory and derivation is confirmed by an example.

     

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