摘要
通过空间3点,求出空间圆弧的参数方程;根据机器人运动学转换矩阵,将空间圆弧参数方程转换到圆心所在平面内,利用7次多项式方法进行规划。通过四元数球面线性插值,对机器人姿态进行规划,得到平滑圆弧运动。
Find the parametric equation for space circular arc from 3 points in the space, and according to the conversion matrix of robot kinematics, the parameter equation for space circular arcs is converted to the parametric equation for the plane where the arc center is located while a 5-order polynomial method is used for planning. A smooth circular motion will be obtained by planning the robot attitude through quaternion spherical linear interpolation.
出处
《机械制造》
2014年第10期4-5,共2页
Machinery
基金
国家863高技术研究发展计划项目(编号:2014AA041601)
