基于三次样条插值函数的蛇形机器人轨迹规划  

Trajectory planning of snake robot based on cubic spline interpolation function

作　　者：韩彦肖[1] 彭书华[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2015年第3期75-79,共5页Journal of Beijing Information Science and Technology University

基　　金：北京市重点学科建设项目(5111523302);研究生培养项目(71D1511005)

摘　　要：在机器人的轨迹规划中,针对三次多项式插值方法和具有中间点的三次多项式插值方法的繁琐性,提出使用三次样条插值算法对机器人的轨迹进行规划。设计了一条能够在平面和空间轻松灵活运动的16关节正交结构的蛇形机器人,基于三次样条插值算法对机器蛇的蠕动运动进行轨迹规划。仿真结果表明,在蛇形机器人轨迹规划中应用三次样条插值方法能保证机器蛇运行的平稳性,从而避免因力矩突变引起的冲击作用。In the trajectory planning of robot, for the complexity of three polynomial interpolation method and three polynomial interpolation method with middle point, the use of three spline interpolation algorithm is proposed. An orthogonal structure 16 -joint snake robot is designed with easy and flexible movement on plane and space. Peristaltic movement of the snake robot is taken as an example to have a trajectory planning based on the cubic spline interpolation algorithm. The results show the method can ensure the stability of the snake robot movement and avoid the impact effect of moment change.

关 键 词：蛇形机器人 三次样条插值 轨迹规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]