Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2006, Vol. 29 ›› Issue (3): 81-85.doi: 10.13190/jbupt.200603.81.010

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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

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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

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