摘要
采用分离系数方法对三分支空间机器人进行运动学数学建模,在此基础上,进行了关节空间中的轨迹规划,提出1种在关节空间应用分段低阶插值拟合路径曲线的规划算法,以改善轨迹控制精度.用计算实例验证了该算法的快速性和高精度.
A kinematical model for the tri-branch space manipulator was proposed, which based on the coefficient partition method. A path planning technique in joint space has been presented. In order to improve the control accuracy, a pieced-low-order interpolation method is used. The precision and efficiency of this joint space path planning algorithm are testified by an experimental example.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2006年第3期81-85,共5页
Journal of Beijing University of Posts and Telecommunications
基金
国家"863计划"项目(2022AA742030)
关键词
运动学
分离系数法
轨迹规划
函数插值
kinematics
coefficient partition method
path planning
interpolation function
