| 工业机器人轨迹规划的一种方法 |
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| 引用本文： | 李彦.工业机器人轨迹规划的一种方法[J].四川大学学报(工程科学版),1990(3). |
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| 作者姓名： | 李彦 |
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| 摘 要： | 本文介绍了工业机器人轨迹规划的一种方法:笛卡尔空间插值和关节空间样条插值结合法.此方法所需示教点少,实时计算量低,并且通过合理配置样条插值节点大大提高了拟合精度.文中给出了仿真实例.
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| 关 键 词： | 工业机器人 轨迹规划 笛卡尔空间插值 样条插值 插值精度 |
A Method of the Trajectories Planning for Industrial Robots |
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| Li Yan.A Method of the Trajectories Planning for Industrial Robots[J].Journal of Sichuan University (Engineering Science Edition),1990(3). |
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| Authors: | Li Yan |
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| Abstract: | This paper presents a method of the trajectories planning for industrial robots.The method combines cartesian coordinate interpolation with joint coordinate polynomial spline interpolation.It requires fewer teaching points and less on-line computation.Its accuracy can be greatly improved through properly disposing the knots.This paper also presents an example of simulation. |
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| Keywords: | industrial robots trajectories planning cartesian interpolation polynomial spline interpolation interpolation accuracy |
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