摘要
通过对机器人运动过程中的速度分段处理,得出平滑、稳定的速度曲线。根据矢量积法建立雅克比矩阵,将末端速度转换到机器人的关节速度,并且通过matlab仿真,验证这种规划方法的可行性。
Through the segmentation processing of robot motion speed, a smooth speed curve was obtained. Jacobi Matrix was created by vector method, and the velocity was translated from Cartesian space to joint space. Finally, matlab simulation results verify the feasibility of the velocity planning.
出处
《计算技术与自动化》
2015年第2期42-45,共4页
Computing Technology and Automation
基金
国家高技术研究发展计划(863计划)项目(2014AA041601)
