切换策略在协调冗余度机器人轨迹规划中的应用

Application of Exchange Scheme in the Trajectory Planning for Coordinating Redundant Robots

将切换策略推广到冗余度机器人的协调操作中，并通过仿真实例将这种方法与常规方法进行了比较。研究结果表明，切换策略不仅适用于单一冗余度机器人的操作，也同样适用于多冗余度机器人的协调操作。

In this article,the exchange scheme is extended to the coordinated manipulation of redundant robots.By a simualtion example,we compare the method with conventional methods.Study results show that the exchange scheme is not only feasible to the manipulation of single redundant robot,but also feasible to the coordinated manipualtion of multiple redundant robots.