摘要
提出了一种加速度函数为组合正弦函数的轨迹规划方法,它由两种不同频率的正弦曲线组合而成,本方法不但可以降低速度和加速度的峰值,而且还可以减少运行时间,使机器人运动平稳,避免振动和过冲现象,减少机械零件的磨损,延长机器人的使用寿命,可以使机器人能够精确、稳定、快速、高效地到达预定位置,完成拾放操作。
A method for robot trajectory planning based on combined sine function was presented in this paper. The curve was combined by two different frequency sine functions. This method could not only reduce the max of velocity and acceleration but also shorten the run time. So the robot could move stably,thus avoid vibration and impact, reduce the wear of mechanical component, increase the service life of robot. In this method,the robot could reach the predetermined position more precisely and steady,and do pick-and-place operations.
出处
《机械工程与自动化》
2008年第1期136-138,141,共4页
Mechanical Engineering & Automation
关键词
加速度
组合
正弦函数
轨迹规划
acceleration
combined
sine function
trajectory planning
