| 工业机器人关节空间的插值轨迹规划 |
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| 引用本文： | 凌家良,施荣华,王国才.工业机器人关节空间的插值轨迹规划[J].惠州学院学报,2009,29(3):52-57. |
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| 作者姓名： | 凌家良 施荣华 王国才 |
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| 作者单位： | 1. 中南大学,信息科学与工程学院,湖南,长沙,410075;惠州学院,电子科学系,广东,惠州,516015
2. 中南大学,信息科学与工程学院,湖南,长沙,410075 |
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| 摘 要： | 首先介绍了工业机器人轨迹规划的概念及涉及到的问题,并改进关节空间的三次多项式插值轨迹规划,提出五次多项式插值轨迹规划,最后重点分析了含多个途经点的插值轨迹规划、抛物线过渡轨迹规划,并进一步完善这两种情况同时存在时的轨迹规划.
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| 关 键 词： | 轨迹规划 关节空间 线性插值 多项式 |
The Industrial Robot Trajectory Planning in Joint Space |
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| LING Jia-liang,SHI Rong-hua,WANG Guo-cai.The Industrial Robot Trajectory Planning in Joint Space[J].Journal of Huizhou University,2009,29(3):52-57. |
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| Authors: | LING Jia-liang SHI Rong-hua WANG Guo-cai |
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| Institution: | 1.College of Information Science and Engineering;Central South University;Changsha 410075;Hunan China;2.Department of Electronic Science;Huizhou University;Huizhou 516015;Guangdong China |
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| Abstract: | This paper first introduces industrial robot's concepts and related questions about trajectory planning.It improves cubic-polynomial interpolation about trajectory planning of joint space,proposes a five-dimensional polynomial interpolation for trajectory planning,analyzes the interpolation trajectory planning including several route points and parabola transition curve.It finally improves the trajectory planning when two above cases exist at the same time. |
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| Keywords: | trajectory planning join space linear interpolation polynomial |
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