摘要
According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of robot can be described by usingthe vector of equivalent angular displacement.And the concept of pose motor and itsPlücker linear coordinate are established and used to describe the position and orientationof robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corre-sponding to the pose motors are developed in dual space.A new algorithm of robot CPmotion trajectory planning is presented.The correctness of the theory and derivation isconformed by an example.
According to the theory that rotation transformation from the base coordinate to an arbitrary one can be described by a single equivalent rotation about a given rotational axis,it is proposed that the orientation of robot can be described by using the vector of equivalent angular displacement.And the concept of pose motor and its Plücker linear coordinate are established and used to describe the position and orientation of robot.Based on the fact that there is a one-to-one correspondence between the ori- ented straight lines in three-dimensional dual space,the interpolation plannings corre- sponding to the pose motors are developed in dual space.A new algorithm of robot CP motion trajectory planning is presented.The correctness of the theory and derivation is conformed by an example.
