| 一种机器人轨迹规划的新方法 |
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| 引用本文： | 刘永超 黄玉美. 一种机器人轨迹规划的新方法[J]. 机械科学与技术, 1999, 18(6): 912-913 |
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| 作者姓名： | 刘永超 黄玉美 |
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| 作者单位： | 西安理工大学!西安710048 |
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| 摘 要： | 为了使机器人具有良好的运动特性，本文从机器人轨迹规划出发，采用了Ｃｌｏｔｈｏｉｄ 曲线生成机器人各关节运动轨迹；该方法利用Ｃｌｏｔｈｏｉｄ 曲线的Ｃ２ 连续性，优化机器人各关节的运动性能，最终改善了机器人的运动特性。
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| 关 键 词： | 机器人 轨迹规划 运动特性 Clothoid曲线 |
A New Method for Robot Orbit Programming |
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| Liu Yongchao Huang Yumei Wang Xiaoyue Gao Feng Zhang Guangpeng. A New Method for Robot Orbit Programming[J]. Mechanical Science and Technology for Aerospace Engineering, 1999, 18(6): 912-913 |
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| Authors: | Liu Yongchao Huang Yumei Wang Xiaoyue Gao Feng Zhang Guangpeng |
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| Abstract: | In order to make a robot have good movement characteristic, this paper utilizes clothoidal curve to generate the robot movement orbit, which makes use of the feature of curvature continuous change of the curve. The movement charcteristic of robot is optimized by using the curve to program robot movement orbit. |
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| Keywords: | Robot Orbit programming Movement characteristic Clothoidal curve |
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