| 基于三分支机器人关节空间轨迹规划的研究 |
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| 引用本文： | 孙汉旭,贾庆轩,张秋豪,吴凡,谭月胜,叶平.基于三分支机器人关节空间轨迹规划的研究[J].北京邮电大学学报,2006,29(3):81-85. |
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| 作者姓名： | 孙汉旭 贾庆轩 张秋豪 吴凡 谭月胜 叶平 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876;北京航空航天大学,机器人研究所,北京,100083 |
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| 摘 要： | 采用分离系数方法对三分支空间机器人进行运动学数学建模，在此基础上，进行了关节空间中的轨迹规划，提出1种在关节空间应用分段低阶插值拟合路径曲线的规划算法，以改善轨迹控制精度。用计算实例验证了该算法的快速性和高精度。
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| 关 键 词： | 运动学 分离系数法 轨迹规划 函数插值 |
| 文章编号： | 1007-5321（2006）03-0081-05 |
| 收稿时间： | 2005-07-19 |
| 修稿时间： | 2005年7月19日 |
Trajectory Planning in Joint Space Based on Tri-Branch Robot |
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| SUN Han-xu,JIA Qing-xuan,ZHANG Qiu-hao,WU Fan,TAN Yue-sheng,YE Ping.Trajectory Planning in Joint Space Based on Tri-Branch Robot[J].Journal of Beijing University of Posts and Telecommunications,2006,29(3):81-85. |
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| Authors: | SUN Han-xu JIA Qing-xuan ZHANG Qiu-hao WU Fan TAN Yue-sheng YE Ping |
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| Affiliation: | 1. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China,
2. Mechanism School, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
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| Abstract: | A kinematical model for the tri-branch space manipulator was proposed, which based on the coefficient partition method. A path planning technique in joint space has been presented. In order to improve the control accuracy, a pieced-low-order interpolation method is used. The precision and efficiency of this joint space path planning algorithm are testified by an experimental example. |
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| Keywords: | kinematics coefficient partition method path planning interpolation function |
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