基于曲线等弧长分割的机器人轨迹规划

Trajectory planning of robot based on equal arc-length synthesis for coupler curves

从机构学的角度 ,基于机器人机构运动方程中原动件角位移及其微分系数的变化关系 ,利用原动件的角位移在端点附近 ,其微分系数的值急剧增大的特征 ,对轨迹曲线上点的坐标进行变换 ,提出了输出输入角相互切换的基准和算法 ,以较少的计算量实现了轨迹曲线上输出点的等间隔分布 ,对机器人轨迹规划的研究具有积极意义。

In this paper, for the purpose based on mechanisms, a procedure is presented for arranging points on the coupler eurve with an equal distance, in which the input and output angles are interchanged according to whether the differential coefficient of the output angle is greater than some reference values or not. Furthermore, a pattern matehing method is presented for synthesizing the coupler eurve of the trajectory planning of robot.