摘要
讨论了一种四自由度工业机器人的关节空间的轨迹规划问题。利用三次样条函数对关节变量进行插值, 使规划的轨迹函数连续且平滑, 保证了机器人在整个作业过程中的运动平稳。实验表明, 该轨迹规划方法是准确可行的。
The trajectory planning in joint space of a four-degrees of freedom robot was presented and the cubic splines were used to interpolate for the angle of every joint.Thus the obtained trajectory function is successive and smooth,which ensures the robot’s motion is smooth at result.Experiments proves that the method of trajectory planning is appropriate and feasible.
出处
《机床与液压》
北大核心
2005年第2期63-64,84,共3页
Machine Tool & Hydraulics
基金
天津市自然科学基金资助项目 (013602811)
