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机器人操作臂奇异路径约束最优轨迹规划
引用本文:连广宇,赵清杰,孙增圻.机器人操作臂奇异路径约束最优轨迹规划[J].机器人,2002,24(6):550-553.
作者姓名:连广宇  赵清杰  孙增圻
作者单位:清华大学,计算机科学与技术系,智能技术与系统国家重点实验室,北京,100084
基金项目:国家 8 63资助项目 (编号 :863-70 4-7-17)
摘    要:路径约束最优轨迹规划的关键是引入标量路径参数来降低优化问题的维数 .当路径穿越奇异点时,由于关节位移难以表示为任务空间路径参数的解析函数,给常规的 路径参数化方法带来困难.本文引入一种新的参数化方法,采用路径跟踪方程解曲线的弧长 为参数,解决了奇异点邻域的路径跟踪问题,把奇异路径轨迹规划转化为常规规划问题,并 采用动态规划方法求解轨迹规划问题.仿真表明,本文提出的参数化方法与动态规划结合起 来,是解决奇异路径最优轨迹规划的有效途径. 

关 键 词:奇异点  奇异路径  最优轨迹规划  动态规划  
文章编号:1002-0446(2002)06-0550-04
修稿时间:2002年4月23日

SINGULAR PATH-CONSTRAINED OPTIMAL TRAJECTORY PLANNING FOR ROBOTIC MANIPULATORS
LIAN Guang,yu,ZHAO Qing,Jie,SUN Zeng,qi.SINGULAR PATH-CONSTRAINED OPTIMAL TRAJECTORY PLANNING FOR ROBOTIC MANIPULATORS[J].Robot,2002,24(6):550-553.
Authors:LIAN Guang  yu  ZHAO Qing  Jie  SUN Zeng  qi
Abstract:Key to the path constrained trajectory planning is to introduce a path parameter to reduce the problem into a low dimension one. While the path passing through singularities, joint variable can hardly be presented as analytical functions of task space defined parameters, which causes difficulties given to conventional trajectory planning. In this paper, a new parameter, arc length of the solution curve to the path tracking equation, is introduced. Based on this, the path tracking problem near singularities is addressed, and singular path constrained trajectory planning is transformed into a standard optimization problem, which can be solved by dynamic programming. Simulation shows the parameterization combined with dynamic programming performs effectively in singular path trajectory planning.
Keywords:kinematic singularity  singular path  optimal trajectory planning  dynamic programming
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