| 基于速度方向可操作度的双臂机器人轨迹规划 |
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| 引用本文： | 汪军,陈安军,张宏涛.基于速度方向可操作度的双臂机器人轨迹规划[J].机械设计与制造,2007(1):112-114. |
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| 作者姓名： | 汪军 陈安军 张宏涛 |
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| 作者单位： | 江南大学,机械工程学院,无锡,214122 |
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| 摘 要： | 在双臂机器人速度可操作度椭球的基础上,定义双臂机器人速度方向可操作度,以速度方向可操作度为性能指标,给出了双臂协调运动关节轨迹规划,理论及算例仿真分析结果表明了规划方法的可行性.
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| 关 键 词： | 双臂机器人 速度方向可操作度 轨迹规划 速度方向可操作度 机器人轨迹规划 measures manipulability directional velocity based robot dual trajectory planning 规划方法 结果 仿真分析 算例 理论 关节轨迹规划 协调运动 性能指标 可操作度椭球 双臂机器人 |
| 文章编号： | 1001-3997(2007)01-0112-03 |
| 修稿时间： | 2006-06-27 |
Joint trajectory planning of dual armed robot based on the velocity directional manipulability measures |
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| WANG Jun,CHEN An-jun,ZHANG Hong-tao.Joint trajectory planning of dual armed robot based on the velocity directional manipulability measures[J].Machinery Design & Manufacture,2007(1):112-114. |
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| Authors: | WANG Jun CHEN An-jun ZHANG Hong-tao |
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| Affiliation: | School of Mechanical Engineering, Southern Yangtze University, Wuxi 214122, China |
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| Abstract: | On the basis of manipulability ellipsoid of mechanism velocity,the velocity directional manipulability measures of dual armed robot was defined.Taking the velocity directional manipulability as the performance index,the joint trajectory planning of the coordinate motion for dual armed robot were presented.The result of theory analysis and simulation example showed that the joint trajectory planning method based on the velocity directional manipulability measures was effectiveness. |
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| Keywords: | Dual armed robot Velocity directional manipulability measures Trajectory planning |
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