基于活动标架法的2自由度机器人轨迹规划

TRAJECTORY PLANNING OF2-DOF MANIPULATORS BASED ONMOVING FRAME METHOD

将2自由度机器人的轨迹弧长指标视为黎曼度量,在黎曼空间内进行了机器人的轨迹规划。基于微分几何的活动标架法,求出了具有此种黎曼度量的黎曼曲面上的测地线作为机器人的最佳轨迹,并进行了计算机数值计算。该方法同样适用于其他不同指标下的机器人轨迹规划。

The curve length of the two-DOF manipulator's trajectory is regarded as the Riemannian metric, and trajectory planning is researched in the Riemannian space. Based on the moving frame method, the geodesies on the Riemannian surface is obtained and is taken as the optimum trajectory of the manipulator. Then an example of the computer simulation is given. This method also adapts to optimum trajectory planning based on other performance indices.