| 笛卡儿空间机器人轨迹规划方法 |
| |
| 引用本文： | 孙羽,张汝波. 笛卡儿空间机器人轨迹规划方法[J]. 北华大学学报(自然科学版), 2002, 3(3): 269-271,276. DOI: 10.3969/j.issn.1009-4822.2002.03.036 |
| |
| 作者姓名： | 孙羽 张汝波 |
| |
| 作者单位： | 湛江海洋大学计算机系,广东,湛江,524O88;哈尔滨工程大学计算机系,黑龙江,哈尔滨,150000 |
| |
| 摘 要： | 提出了笛卡儿空间机器人连续路径(CP)轨迹规划方法,移动轨迹在笛卡儿坐标系中由1组参数方程说明.时间间隔[0,T]分为m段,在每个时间段,多项式的系数可以用递归的形式求出.
|
| 关 键 词： | 机器人 轨迹规划 参数方程 |
| 文章编号： | 1009-4822(2002)03-0269-03 |
A Method for Trajectory Planning of Robot in Cartesian Space |
| |
| Sun Yu ,Zhang Rubo. A Method for Trajectory Planning of Robot in Cartesian Space[J]. Journal of Beihua University(Natural Science), 2002, 3(3): 269-271,276. DOI: 10.3969/j.issn.1009-4822.2002.03.036 |
| |
| Authors: | Sun Yu Zhang Rubo |
| |
| Affiliation: | Sun Yu 1,Zhang Rubo 2 |
| |
| Abstract: | A method for robot continuous path motion trajectories planning in cartesian space is presented. The motion trajectories are specified by a group of parameter equations in cartesian coordinates. The time intervalis divided into m segments,and the coefficients of polynomial at each segment can be obtained in recurrence form. |
| |
| Keywords: | Robot Trajectory planning Parameter equations |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
