摘要
为了将余弦曲线应用于机器人路径自主规划,提高机器人路径规划智能水平,建立了余弦曲线变换模型,设计了余弦曲线路径规划算法,针对机器人的运动特点进行了机器人余弦曲线路径规划,设计了机器人余弦曲线路径规划试验。通过仿真和试验研究得到了不同条件下机器人余弦曲线规划路径的位置、姿态,研究分析证明了模型和算法的正确性、有效性,大大提高了机器人路径规划的效率。
In order to apply cosine curve to robot path planning and improve the intelligent level of robot path planning,the cosine curve transformation model is established.The cosine curve path planning algorithm is designed.The robot cosine curve path planning is carried out.The robot cosine curve path planning experiment is designed.The position and attitude of robot cosine curve path planning under different conditions are obtained by simulation and experiment analysis.The correctness and effectiveness of the model and algorithm are proved by research and analysis,which greatly improves the efficiency of robot path planning.
作者
李峰
金永喆
朱文慧
李自建
LI Feng;JIN Yongzhe;ZHU Wenhui;LI Zijian(Department of Mechanical Engineering,Kunsan National University,Gunsan 54150,South Korea;College of Smart Manufacturing,Zhengzhou University of Economics and Business,Zhengzhou 451191,China)
出处
《机械工程师》
2024年第4期24-27,33,共5页
Mechanical Engineer
基金
河南省科技攻关项目“基于北斗导航的人形机器人群航道智能规划位姿自动生成技术研究”(222102210307)
郑州经贸学院创客空间建设资助项目。
关键词
机器人
余弦曲线
路径规划
试验
分析
robot
cosine curve
path planning
experiment
analysis
