摘要
本文介绍了工业机器人轨迹规划的一种方法:笛卡尔空间插值和关节空间样条插值结合法.此方法所需示教点少,实时计算量低,并且通过合理配置样条插值节点大大提高了拟合精度.文中给出了仿真实例.
This paper presents a method of the trajectories planning for industrial robots.The method combines cartesian coordinate interpolation with joint coordinate polynomial spline interpolation.It requires fewer teaching points and less on-line computation.Its accuracy can be greatly improved through properly disposing the knots.This paper also presents an example of simulation.
关键词
工业机器人
轨迹规划
插值精度
industrial robots
trajectories planning
cartesian interpolation
polynomial spline interpolation
interpolation accuracy
