基于三分支机器人关节空间轨迹规划的研究  

Trajectory Planning in Joint Space Based on Tri-Branch Robot

作　　者：孙汉旭[1] 贾庆轩[2] 张秋豪[1] 吴凡[1] 谭月胜[2] 叶平 

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《北京邮电大学学报》2006年第3期81-85,共5页Journal of Beijing University of Posts and Telecommunications

基　　金：国家"863计划"项目(2022AA742030)

摘　　要：采用分离系数方法对三分支空间机器人进行运动学数学建模,在此基础上,进行了关节空间中的轨迹规划,提出1种在关节空间应用分段低阶插值拟合路径曲线的规划算法,以改善轨迹控制精度.用计算实例验证了该算法的快速性和高精度.A kinematical model for the tri-branch space manipulator was proposed, which based on the coefficient partition method. A path planning technique in joint space has been presented. In order to improve the control accuracy, a pieced-low-order interpolation method is used. The precision and efficiency of this joint space path planning algorithm are testified by an experimental example.

关 键 词：运动学 分离系数法 轨迹规划 函数插值 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]