| 考虑关节弹性的冗余度机器人具有最小关节力矩的轨迹规划 |
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| 引用本文： | 赵京,白师贤.考虑关节弹性的冗余度机器人具有最小关节力矩的轨迹规划[J].机械科学与技术(西安),1998,17(1):63-66. |
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| 作者姓名： | 赵京 白师贤 |
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| 作者单位： | 北京工业大学基础科学部 |
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| 摘 要： | 针对考虑关节弹性的冗余度机器人具有最小力矩的轨迹规划问题进行了研究，提出了可用于实时控制的规划算法，并给出了平面３Ｒ机器人的仿真实例。
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| 关 键 词： | 冗余度机器人 关节弹性 轨迹规划 |
The Joint Trajectory Planning with Minimal Joint Torques for Redundant Robots with Joint Elasticity |
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| Zhao Jing,Bai Shixian.The Joint Trajectory Planning with Minimal Joint Torques for Redundant Robots with Joint Elasticity[J].Mechanical Science and Technology,1998,17(1):63-66. |
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| Authors: | Zhao Jing Bai Shixian |
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| Abstract: | In this article, joint trajectory planning with minimal joint torques for redundant robots with joint elasticity is researched. A planning algorithm which is suitable for real time control is proposed, and a simulation example for a planar 3R redundant robot is presented. |
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| Keywords: | Redundant robots Joint elasticity Trajectory planning |
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