北京邮电大学学报

  • EI核心期刊

北京邮电大学学报 ›› 2006, Vol. 29 ›› Issue (3): 81-85.doi: 10.13190/jbupt.200603.81.010

• 研究报告 • 上一篇    下一篇

基于三分支机器人关节空间轨迹规划的研究

孙汉旭1,贾庆轩2,张秋豪1,吴凡1,谭月胜2,叶平2   

  1. 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
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2006-06-30 发布日期:2006-06-30
  • 通讯作者: 张秋豪

Trajectory Planning in Joint Space Based on Tri-Branch Robot

SUN Hanxu1, JIA Qingxuan1, ZHANG Qiuhao1, WU Fan1, TAN Yuesheng2   

  1. 1. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China,
    2. Mechanism School, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:1900-01-01 Revised:1900-01-01 Online:2006-06-30 Published:2006-06-30
  • Contact: SUN Hanxu

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。

关键词: 运动学, 分离系数法, 轨迹规划, 函数插值

Abstract:

This paper proposed a kinematical model for the tri-branch space manipulator, 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 in this paper. The precision and efficiency of this joint space path planning algorithm are testified by an experimental example.

Key words: Kinematics;Coefficient Partition Method;Path Planning, Interpolation Function