机器人运动轨迹规划分析与算法

ANALYSIS AND ALGORITHM FOR TRAJECTORY PLANNING OF ROBOT MANIPULATORS

  • 摘要: 本文在Lin和Luh等人工作的基础上,提出了一种新的机器人CP运动轨迹规划算法.在该算法中,连续路径由一组直角坐标下的参数方程来描述.时间区间〔0,T〕被分成m段,并且各轨迹段的拟合多项式系数采用递推方式求得,这不仅易于计算机实现,而且计算量也较少.另外本文对时间最优轨迹规划问题也作了分析和研究,并提出了一种有效的算法.

     

    Abstract: This paper presents an algorithm of robot CP motion trajectories planning basedupon the work done by J.Y.S.Luh etc.The traveling path is specified by a groupof parameter equations in cartesian coordinate.The time interval〔O,T〕is divided intom segments,and the coefficients of polynomial at each segment are obtained in rec-urrence form.In the final part of the paper,the problem of minimum-time trajectories planning is also considered.Compared with the cubic spline function approach presented by Luh etc.,the proposed algorithm is not only easily converted into computer programs,but also needs less computation amount.

     

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