机器人运动的离散轨迹规划法

A DISCRETE TRAJECTORY PLANNINC FOR ROBOTIG ARMS

提出了机器人运动的逐段离散轨迹规划法，该方法考虑了离散轨迹规划时间间隔应与轨迹跟踪控制所决定的采样时间间隔的一致性，在关节速度、转矩、关节冲力及工具端速度的约束条件下，沿给定路径逐段规划出各关节的位置、速度等的时间序列。对具有六自由度的ｓｔａｎｆｏｒｄ操作手的规划实例，充分表明了该方法的有效性。

In this paper,a method of segmental trajectory planning with discrete dynamic model for roboticarms is presented.Under the sampling time interval determined at the on-line trajectory trackingstage,the time history of joint positions and velocities along the given path are planned while satisfyingdynamic constraints and optimizing the given performance index. The planning examples for 6- DOFStanford Manipulator show the efficiency.