| 机械手的运动学最短时间轨迹规划 |
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| 引用本文： | 叶桦,冯纯伯.机械手的运动学最短时间轨迹规划[J].东南大学学报(自然科学版),1990,20(3):74-80. |
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| 作者姓名： | 叶桦 冯纯伯 |
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| 作者单位： | 东南大学自动化研究所，东南大学自动化研究所 |
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| 摘 要： |
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| 关 键 词： | 机械手 轨迹规划 关节驱动器 |
Kinematic Minimum-Time Trajectory Planning for a Manipulator |
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| Ye Hua,Feng Chunbo Research Institute of Automation.Kinematic Minimum-Time Trajectory Planning for a Manipulator[J].Journal of Southeast University(Natural Science Edition),1990,20(3):74-80. |
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| Authors: | Ye Hua Feng Chunbo Research Institute of Automation |
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| Institution: | Ye Hua;Feng Chunbo Research Institute of Automation |
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| Abstract: | By using a phase-plane analysis method,the minimum-time trajec- tory planning problem of a manipulator moving along a given geometric path subject to the constraints of joint velocities and accelerations is solved in this paper.The simulation result for the first three joints of PUMA-560 is given. |
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| Keywords: | manipulators trajectory planning/minimum-time |
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