摘要
以采掘机器人反铲装置为对象,对其作业过程的轨迹规划进行了研究,提出了基于驱动机构变量空间的轨迹规划方法,在自行设计研制的一个试验样机上进行了验证。与此同时,开发了一个三维动态仿真软件作为检验轨迹规划方法的并行手段。
The method of trajectory planning of work process is studied by taking bucket as the object. The model of trajectory planning based on actuator variable space is proposed. The method is verified on a prototype. Meanwhile, the software of three-dimensional dynamic simulation is developed as means of examining the method of trajectory planning.
出处
《系统工程与电子技术》
EI
CSCD
1993年第6期48-53,共6页
Systems Engineering and Electronics
基金
浙江大学CAD/CG国家重点实验室基金
国家自然科学基金
关键词
轨迹规划
机器人
采矿
Excavating robot, Trajectory planning
