关于操作手路径优化研究的一种方法

将操作手的路长规划问题分解成两部分：一是利用现有的研究方法解决基于在线路径轨迹的离线过程的路径优化，并采用三次样条函数构造各关节轨迹；二是研制在操作手的每对相邻簇集间时间分配的算法，使得操作手在满足关节速度、加速度、加加速度等物理约束条件下，总的移动时间最短。

A Method of Path Optimization Research for Manipulators

The path planning problem of manipulators is divided into two steps: the first step is to achieve the optimum path for off line process based on the on line path tracking by adopting the existing approach, cubic spline functions are used for constructing joint trajectories for manipulators; the second step is that an algorithm is developed to schedule the time intervals between each pair of adjacent knots, such that the total traveling time of a manipulator is minimized with the physical constraints on joint velocities, accelerations, jerks.