摘要
针对绘图机器人在斜面绘图过程中轨迹规划中存在的问题,提出了基于绘图机器人关节空间姿态角度多项式函数的轨迹规划与优化控制方法.采用此方法,调整绘图机器人的空间姿态,优化绘图机器人的绘图路径,解决了绘图机器人规划轨迹中存在的不可达到的目标姿态问题.运行结果表明,此方法有效、可行.
A novel optimization and control of the trajectory planning by robots has been proposed on basis of their pose polynomial and joint angles.This adjustment is expected to handle the singularity of point by the drawing robots that they cannot fulfil.Result shows that the proposed method of the trajectory planning and optimize control is effective and feasible.
作者
刘立业
LIU Li-ye(Department of Electrics and Electronics,Shijiazhuang University of Applied Technology,Shijiazhuang,Hebei 050081,China)
出处
《石家庄职业技术学院学报》
2022年第4期7-10,共4页
Journal of Shijiazhuang College of Applied Technology
基金
河北省高等学校科学技术研究项目(QN2022213)
关键词
绘图机器人
轨迹规划
工件坐标系
关节角度
奇点
drawing robot
trajectory planning
workpiece coordinating system
joint angle
singularity
