| 利用样条函数规划机器人运动轨迹 |
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| 引用本文： | 徐向荣,秦锋,毕文昌. 利用样条函数规划机器人运动轨迹[J]. 安徽工业大学学报, 1996, 0(3) |
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| 作者姓名： | 徐向荣 秦锋 毕文昌 |
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| 摘 要： | 本文利用样条函数法提出了一种机器人运动轨迹规划方法，各关节运动采用样条函数来拟合，该法简便、计算量小、而且不会出现机构奇异点问题，可生成光滑平稳的无噪音机器人运动轨迹。
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| 关 键 词： | 机器人，轨迹规划，样条函数 |
Trajectory Planning of Robot Manipulators Using Spline Function |
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| Xu Xiangrong,Qin Feng,Bi Wenchang. Trajectory Planning of Robot Manipulators Using Spline Function[J]. Journal of Anhui University of Technology, 1996, 0(3) |
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| Authors: | Xu Xiangrong Qin Feng Bi Wenchang |
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| Affiliation: | Mechanical Engineering Department |
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| Abstract: | This paper presents a new method for trajectory planning of robot manipulators by using spline function approach.The motion of each joint of robot is specified by a set of spline function.The method is simple and has less computation amount.In addition, the singular-points problems can not appear in the proposed method.So,the method can be used to generate a smooth, steady and noiseless trajectory of robots. |
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| Keywords: | s:Robot Trajectory-planning Spline function approach. |
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