| 基于广义坐标的冗余度机器人运动轨迹的规划 |
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| 引用本文： | 王凯,陈祖安,等.基于广义坐标的冗余度机器人运动轨迹的规划[J].机械科学与技术(西安),2001,20(2):205-205,208. |
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| 作者姓名： | 王凯 陈祖安 |
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| 作者单位： | [1]西安理工大学机械与精密仪器工程学院，西安710048 [2]西安理工大学机械与精密仪器工程学 |
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| 摘 要： | 在有障碍的工作环境中 ,为了使机器人到达其目标位置 ,并实现正常作业 ,就必须进行无碰撞轨迹规划。本文介绍了一种广义坐标法 ,它能快速获得两空间凸形物的距离。因此 ,它在避障轨迹规划中是一种运算速度较快的计算方法。
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| 关 键 词： | 机器人 广义坐标法 空间凸形物 |
| 文章编号： | 1003-8728(2001)02-0205-01 |
Redundance Robot Track Programming Based on the Generalized Coordinate |
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| WANG Kai,CHEN Zu-an,HAN Da-yong.Redundance Robot Track Programming Based on the Generalized Coordinate[J].Mechanical Science and Technology,2001,20(2):205-205,208. |
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| Authors: | WANG Kai CHEN Zu-an HAN Da-yong |
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| Abstract: | Under the circumstance with obstacles, in order to make robot working in the position without contact, we have to program the track of robot. Here the generalized coordinates is suggested to gain the distance between protruding objects. It can help to reduce the calculating quantities. Therefore it is the best means to calculate the obstacle-avoidance impact track directly and quickly. |
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| Keywords: | Generalized coordinate Protruding object |
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