一种新颖的笛卡尔空间轨迹规划方法

本文通过对螺旋理论和空间样条曲线生成原理的有机结合，提出了一种“虚拟关节” 的概念，在此基础上给出了一种新颖的笛卡尔空间的机器人轨迹规划方法．由于这种方法综 合了关节空间轨迹规划和笛卡尔空间轨迹规划各自所具有的优点，因此既简单又直观．而且 ，利用该方法可以很容易地得到一条经过所有控制点并满足所要求边界条件的空间轨迹．为 验证其有效性，本文基于一种9自由度模块化机器人平台给出了具体的实验方法和结果．

A NOVEL METHOD OF TRAJECTORY PLANNING IN CARTESIAN SPACE

Combined the screw theory with the principle of a spline curve generation validly, a concept of virtual joints is proposed in this paper. Based on this concept, a novel method of trajectory planning in cartesian space is presented. This method is simple as well as intuitive by virtue of synthesizing the advantages of both the path planning in joint space and that in cartesian space. In addition, through this method a spatial trajectory is obtained easily, which will go through all the control points and be content with the boundary conditions as well. In order to verify it, an experiment on a 9DOF modular robot platform and corresponding results are given at last.