| 仿人型机械臂抓取目标路径规划的研究 |
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| 引用本文： | 于乃功,黄灿,林佳.仿人型机械臂抓取目标路径规划的研究[J].机电一体化,2012,18(7):13-15,19. |
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| 作者姓名： | 于乃功 黄灿 林佳 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家自然科学基金项目，北京市教委科技计划面上项目 |
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| 摘 要： | 在机器人控制领域中，机械臂的控制问题一直是研究的焦点。针对六自由度机械臂建立了精确的运动学模型，并在此基础上对机械臂抓取目标物体时的路径规划算法进行了研究与优化，使机械臂的运动控制更加平稳可靠，并通过Matlab仿真对研究理论进行了论证。
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| 关 键 词： | 机械臂 笛卡尔空间 最小二乘法 |
The Path Planning Research of Grabing by the Humanoid Robot Manipulator |
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| Abstract: | In the field of robotic control, control problem of manipulator has always been the focus of research. In this paper, the kinematic model of the six degrees of freedom manipulator is accurately established, and on this basis, the path programming algorithm of the manipulator crawling has been studied and optimized, so make the manipulator of motion control more stable and reliable, the Matlab simulation is adopted for the study of the theory were demonstrated. |
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| Keywords: | biped robot Descartes space non-linear least square method |
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