摘要
提出了笛卡尔空间大步距插值与关节空间改进的三次样条小步距插值相结合的方法,对打磨机进行了轨迹规划。利用关节空间改进的三次样条插值,消除了启动和停止时的加速度突变。并且通过SimMechanics工具箱建立模型,验证了轨迹规划方法的正确性和有效性,为操作臂的伺服控制提供理论基础。
A approach combining Cartesian coordinate large-step interpolation with joint coordinate improved cubic spline small-step interpolation is proposed, and trajectory planning on barinder＇s manipulator was received with the method. Using the joint coordinate improved cubic spline small-step interpolation gets over the question of acceleration break. In addition, a kinematical model is developed using SimMechanics. It Is found from simulation results that the kind of trajectory planning was correct and effective. It provides powerful theory basis for servo control of the barinder＇s manipulator.
出处
《中国民航大学学报》
CAS
2010年第2期50-53,共4页
Journal of Civil Aviation University of China
基金
中国民航大学与天津铁制品有限公司合作项目(0719)
