机器人操作手末端夹持器轨迹生成的旋量方法

依据从基坐标系到任一坐标系的旋转变换可以通过绕给定轴的一次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的姿态,并进而提出用姿态旋量及其Plucker线坐标来描述机器人的位姿。依据三维欧氏空间中的有向直线与三维对偶空间中的点的对应关系,在对偶空间中对姿态旋量所对应的点进行插补规划,提出一种机器人连续运动轨迹规划的新方法。文末算例说明了上述原理和推导的正确性。

Motor Method of Robot End Effector Path Generation

According to the theory that the rotation transformation from the base coordinate to an arbitrary one can be described by a single equivalent rotation about a given rotational axis, it is proposed that the orientation of robot can be described by using the vector of equivalent angular displacement.And the concept of pose motor and its Plucker linear coordinate are established and used to describe the position and orientation of robot. Based on the fact that there is a one-to-one correspondence between the oriented straight lines in three-dimensional dual space, the interpolation plannings corresponding to the pose motors are developed in dual space. A new algor-ithm of robot CP motion trajectory planning is presented. The correctness of the theory and derivation is conformed by an example.