一种双机器人跟踪复杂边缘的协调规划方法  

A Coordinated Planning Approach for Dual-robot Tracking Complex Edge

作　　者：胡斌梁[1] 陈国良[2] 

机构地区：[1]湖南科技大学机电工程学院,湖南湘潭411201 [2]武汉理工大学机电学院,湖北武汉430070

出　　处：《湖南科技大学学报（自然科学版）》2006年第2期48-51,共4页Journal of Hunan University of Science And Technology：Natural Science Edition

基　　金：湖南省自然科学基金重点项目(05JJ20012)

摘　　要：通过坐标变换将三维空间内的边缘跟踪问题转移到二维平面上进行研究,在边缘所在平面内描述和规划了双机器人协调跟踪边缘任务,考虑边缘的一般性,提出了基于边缘极值的分段跟踪算法,采用摆线函数的基本形式,在笛卡儿空间内,分别对双机器人的运动轨迹进行协调规划.以正弦曲线为跟踪实例进行了仿真实验,结果表明研究内容的可行性和适用性.图3,参8.The problem of edge tracking in three-dimensional space was discussed in two-dimensional plane through transformation of coordinates. The task of dual robot coordinated tracking edge was present and planned in the plane of the edge tracking. The generality on the edge was considered and a piecewise tracking algorithm based on the maximum value of edge was proposed. The trajectories of two robots in Cartesian space based on the cycloidal function and the edge tracked were planned. Some simulation experiments were performed to track the sine curve and the results of experiments showed the content studied in this paper is feasible and universal. 3figs., 8refs.

关 键 词：双机器人 边缘跟踪 协调规划 摆线轨迹 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]