| 运用三次样条曲线拟合机器人运动路径 |
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| 引用本文： | 王金敏,崔奇,初楠. 运用三次样条曲线拟合机器人运动路径[J]. 机械设计, 2005, 22(7): 44-46 |
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| 作者姓名： | 王金敏 崔奇 初楠 |
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| 作者单位： | 天津工程师范学院,机械工程系,天津,300222;天津大学,机械工程学院,天津,300072 |
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| 摘 要： | 为了使移动机器人在运行过程中能够保持平稳，在四叉树建模环境下，提出用三次样条曲线拟合机器人运动路线的方法。由于三次样务曲线有连续的二阶导数，这样可以保证机器人在急停、急转时有良好的动力学特性，具有用直线与圆弧拟合路径无法比拟的优点。
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| 关 键 词： | 三次样条曲线 四叉树 路径规划 拟合 |
| 文章编号： | 1001-2354(2005)07-0044-03 |
Utilizing cubic spline curve to match the path of robotic movement |
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| WANG Jin-min,CUI Qi,CHU-Nan. Utilizing cubic spline curve to match the path of robotic movement[J]. Journal of Machine Design, 2005, 22(7): 44-46 |
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| Authors: | WANG Jin-min CUI Qi CHU-Nan |
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| Affiliation: | WANG Jin-min~1,CUI Qi~2,CHU-Nan~1 |
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| Abstract: | In order to let the moving robot be able to keep stability in the course of motion, a method for matching the path of robotic motion by the use of cubic spline curve under the environment of duad-tree modeling was put forward. Owing to the cubic spline curve possesses a continuous quadratic derivative, thus could ensure the robot possesses a good dynamics property when a sudden stop or sudden rotation happened, and has the advantage that could not be compared by utilizing the method of path matching with straight lines and arcs. |
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| Keywords: | cubic spline curve quad tree path planning matching |
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