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本文利用样条函数开发了一种多关节机器人的运动轨迹规划的方法,即机器人的各关节都采用样条函数来拟合。该方法使用简便,计算量小,且不会出现机构奇异点的问题,一般可生成光滑和平稳的机器人的运动轨迹。实验表明,该轨迹规划方法是准确可行的。
In this paper, the spline function is used to develop a trajectory planning method for multi-joint robots, in which all the joints of the robot are fitted with spline functions. The method is easy to use and has low computational complexity and does not cause the problem of singularity of the mechanism. Generally, a smooth and steady robot trajectory can be generated. Experiments show that the trajectory planning method is accurate and feasible.