工业机器人关节空间的插值轨迹规划  

The Industrial Robot Trajectory Planning in Joint Space

作　　者：凌家良[1,2] 施荣华[1] 王国才[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410075 [2]惠州学院电子科学系,广东惠州516015

出　　处：《惠州学院学报》2009年第3期52-57,共6页Journal of Huizhou University

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。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 eases exist at the same time.

关 键 词：轨迹规划 关节空间 线性插值 多项式 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]