| 基于样条函数法的机器人运动轨迹规划 |
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| 引用本文： | 秦锋,徐向荣.基于样条函数法的机器人运动轨迹规划[J].机械科学与技术(西安),1996,15(4):561-565. |
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| 作者姓名： | 秦锋 徐向荣 |
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| 作者单位： | 华东冶金学院 |
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| 摘 要： | 利用样条函数法开发了一种机器人运动轨迹的规划方法，即各关节的运动采用样条函数来拟合。该法使用简便、计算量小，而且不会出现机构奇异点问题，可生成光滑平稳的无噪音机器人运动轨迹
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| 关 键 词： | 机器人轨迹规划 样条函数 |
Trajectory Planning of Robot Manipulators by Using Spline Function Approach |
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| Qin Feng,Xu Xiangrong.Trajectory Planning of Robot Manipulators by Using Spline Function Approach[J].Mechanical Science and Technology,1996,15(4):561-565. |
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| Authors: | Qin Feng Xu Xiangrong |
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| Abstract: | This paper presents a new method for trajectory planning of robot manipulators by using spline function approach. The motion of each joint of robot is specified by a set of spline function. The method is simple and has less computation amount. In addition, the strangepoint problem can not appear in the proposed method. So, the method can be used to generate a smooth, steady and noiseless trajectory of robots. |
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| Keywords: | Robot Trajectoryplanning Spline function |
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