摘要
提出了基于位移螺旋与Chasles定理的机器人轨迹规划方法,这种轨迹的规划方法,可以兼顾关节空间和笛卡尔空间轨迹规划的各自不同的优点,适应于不同的串、并联机器人,既简单又直观。并提出了由B样条函数生成的空间轨迹。
A trajectory generation of robot based on displacement screw and Chasles theory is proposed in this paper.This method is simple as well as intuitive by virtue of synthesizing the advantages of both the path planning in joint space and that in Cartesian space,wish different robot of contact or parallel.And space trajectory is resulted by B spline.
出处
《机械与电子》
2004年第10期40-43,共4页
Machinery & Electronics
基金
国家 八六三"计划资助项目(863980305)
