| 一种基于测地线的机器人轨迹规划方法 |
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| 引用本文： | 张连东,王德伦.一种基于测地线的机器人轨迹规划方法[J].机器人,2004,26(1):83-086. |
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| 作者姓名： | 张连东 王德伦 |
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| 作者单位： | 大连理工大学机械工程学院,辽宁,大连,116024 |
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| 基金项目： | 国家自然科学基金资助项目(59975013). |
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| 摘 要： | 提出了一种基于测地线的机器人轨迹规划方法.该方法克服了传统的轨迹规划方法的某些不足,其规划是在关节空间(黎曼空间)内进行的,规划目标是直角坐标空间内的直线,即两点之间的最短路径,也可以是系统动能最小,或某项综合指标最优.该规划方法直接得到机器人的各关节的转角和角速度,无需进行运动学反解和多项式插值.本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的,因此它还具有非时间参考的机器人轨迹规
划的优点.
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| 关 键 词： | 机器人轨迹规划 测地线 非时间参考的轨迹规划 |
| 文章编号： | 1002-0446(2004)01-0083-04 |
ROBOT TRAJECTORY PLANNING BASED ON GEODESICS |
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| ZHANG Lian-dong,WANG De-lun.ROBOT TRAJECTORY PLANNING BASED ON GEODESICS[J].Robot,2004,26(1):83-086. |
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| Authors: | ZHANG Lian-dong WANG De-lun |
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| Abstract: | A geodesic based trajectory planning method for robots is proposed in this paper,which overcomes some shortcomings of traditional trajectory planning method. The planning is performed in joint space and the planning objects can be a line in Cartesian space,the kinetic energy or some combined indices. Angle and velocity of each joint is attained directly and no inverse kinematics and polynomial interpolation are needed. Because arc length of trajectory is regarded as the variant in geodesics based method,it possesses the advantages of non-time based trajectory planning at the same time. |
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| Keywords: | robot trajectory planning geodesics non-time based trajectory planning |
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