引用本文: 王兴贵, 尹朝万, 马兴瑞, 邹振祝, 邵成勋. 基于动力学约束的机械臂最优关节轨迹规划[J]. 机器人, 1993, 15(5): 20-26.
WANG Xinggui, YIN Chaowan, MA Xingrui, ZOU Zhenzhu, SHAO Chengxun. OPTIMAL JOINT TRAJECTORY PLANNING FOR INDUSTRIAL MANIPULATOR WITH INPUT TORQUE CONSTRAINT[J]. ROBOT, 1993, 15(5): 20-26.
 Citation: WANG Xinggui, YIN Chaowan, MA Xingrui, ZOU Zhenzhu, SHAO Chengxun. OPTIMAL JOINT TRAJECTORY PLANNING FOR INDUSTRIAL MANIPULATOR WITH INPUT TORQUE CONSTRAINT[J]. ROBOT, 1993, 15(5): 20-26.

## OPTIMAL JOINT TRAJECTORY PLANNING FOR INDUSTRIAL MANIPULATOR WITH INPUT TORQUE CONSTRAINT

• 摘要: 本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法．该方法运用矩阵范数理论简化机械臂的动力学约束方程；在机械臂的关节空间内采用归一化的无因次量运用非线性规划法优化其运动轨迹．将所规划的无因次量轨迹方程作为机械臂产生实际运动轨迹的发生器，通过给定机械臂各运动段的起始和终止关节坐标，由系统的动力学约束方程计算出整个运动段所允许的最短运行时间，即生成所期望的运动轨迹．本文的轨迹规划方法计算效率高，可用于在线轨迹规划，文中通过算例证实了该方法的实用性．

Abstract: In this paper,an efficient method of joint trajectory planning for industrial manipulator is developed,hav-ing considered the dynamic constraint of the system.In this method,the matrix norm theory is applied tosimplify the dynamic equations of manipulator.The normalized joint coordinates and movement time areadopted and its trajectory equations are optimized by nonlinear programming algorithm.Then,the trajectoryequations of normalized parameter are used to generate real trajectory of manipulator.When each subtravel-ling initial and final point coordinates are given,the minimum movement time of the manipulator can be de-termined through the dynamic constraint equations,the real trajectory of the manipulator can be obtained.The application of these results for joint trajectory planning of a three-joint revolute manipulator are demon-strated by computer simulation.Finally,it is emphasis that the method can be used in Planning joint trajecto-ry of manipulator on-line.

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