摘要
研究双机器人协调跟踪平面复杂边缘所涉及的问题.在笛卡儿空间内对跟踪任务进行协调分解,并分析双机器人的位置约束关系,采用双曲线函数规划双机器人基于关节空间的运动轨迹,以满足位置、速度以及加速度等平滑运动的约束条件,采用基于曲线极大值的分段跟踪算法扩展平面复杂曲线的一般性.仿真实验和应用均表明了所研究内容的可行性和正确性.
The motion planning for planar complex edge tracking with two coordinated robots is discussed. A tactic to coordinately distribute the tracking tasks to each robot is proposed, and the relation of positional constraint between two robots is analyzed in Cartesian space. Hyperbolic function is employed to plan robot trajectories in joint space to meet the requirements of smooth displacements, speed, acceleration and jerk etc. A piecewise tracking algorithm based on the maximum value of edge is proposed to extend the universality of tracked edge. Simulation experiments show the motion planning is feasible and correct.
出处
《控制与决策》
EI
CSCD
北大核心
2005年第12期1374-1378,共5页
Control and Decision
基金
国家863计划项目(2004AA844120)
国家自然科学基金项目(60275013)
关键词
双机器人协调
复杂边缘跟踪
运动规划
双曲线轨迹
Dual-robot coordination
Complex edge tracking
Motion planning
Hyperbolic trajectories
