摘要
利用刚体动力学和多项式插值方法建立了6自由度机器人运动最佳路径的数学模型,从机器人做功与精确定位角度建立了目标函数,并针对不同约束给出相应算法。在模型中将机器人运动所耗能量与运动路径很好地结合在一起,精确地刻画了机器人的运动轨迹。
In this paper, we set up a mathematical model for the best moving path of the 6-degree of freedom （DOF） robot based on rigid body dynamics and polynomial interpolation. From the per- spectives of both robot acting and precise positioning, the objective function is set up. Corresponding algorithms are then given with different bounds. In this model, energy consumption and the moving path of the robot will be both considered, therefore, it accurately describes the robot moving trajectories.
出处
《上海电机学院学报》
2009年第2期154-156,172,共4页
Journal of Shanghai Dianji University
基金
国家自然科学基金资助项目(70371022)
关键词
机器人
自由度
刚体动力学
精确定位
robot
degree of freedom （DOF）
rigid body dynamics
precise positioning
