摘要
对于码垛机器人 ,轨迹规划的核心是控制曲线的选取和其算法的实现 ,其轨迹规划是有约束非线形的复杂问题。本文根据求得的逆运动学解 ,用MATLAB软件对轨迹规划进行编程 ,得出了关节变量的运动曲线 。
With the development of industry, the requirement of the velocity and position of a robot is higher than before. To a stacker robot, the key of the trajectory planning is the selection of a control curve and the realization of the calculating method. Its trajectory planning is a constraint and non-liner implication problem. On the base of inverse kinematics' solution, this paper develops programs by use of MATLAB and draws the motion curve of the joint variable, which provides servo-control with reference.
出处
《常熟高专学报》
2000年第4期85-89,共5页
Journal of Changshu College
关键词
码垛机器人
轨迹规划
CP控制
a stacker robot
trajectory planning
continuous path control
