机器人抓取运动目标的轨迹规划方法

A TRAJECTORY PLANNING METHOD FOR A ROBOT TO GRASP A MOVING TARGET

本文讨论了机器人在抓取运动目标前的接近轨迹规划问题，给出了一种新的在平面上抓取目标的方案。这种方案适用于机器人接近作直线运动或轨迹已知的平面曲线运动的目标的轨迹规划。本文还研究了当目标沿直线以不同速度运动时机器人手爪要抓取它而必须达到的最小末端速度，最后给出了一些仿真结果。

This paper presents a new method of robot trajectory planning to track a dynamic target, whichmoves along a straight line or a planar curve whose mathematical representations are known. It is also dis-cussed that the relationship between the target moving velocity and the minimum approaching velocity of grip-per when the target moves along a straight line. Simulation studies of a manipulator approaching a straight-line moving target are provided.