论文部分内容阅读
提出了机器人运动的逐段离散轨迹规划法，该方法考虑了离散轨迹规划时间间隔应与轨迹跟踪控制所决定的采样时间间隔的一致性，在关节速度、转矩、关节冲力及工具端速度的约束条件下，沿给定路径逐段规划出各关节的位置、速度等的时间序列。对具有六自由度的ｓｔａｎｆｏｒｄ操作手的规划实例，充分表明了该方法的有效性。
A piecewise discrete trajectory planning method of robot motion is proposed. The method considers the consistency of the discrete trajectory planning interval with the sampling interval determined by the trajectory tracking control. When the joint velocity, torque, joint force and tool tip velocity Under constraint conditions, the time series of joint position, velocity and so on are planned one by one along the given path. The planning example of a stanford operator with six degrees of freedom shows the validity of the method.