机器人手臂笛卡尔空间轨迹计算机仿真规划

研究了基于机器人手臂关节笛卡尔空间的轨迹规划问题。通过在MATLAB软件环境下对该算法的计算机仿真测试试验,使规划的轨迹路径连续而平滑,从而保证机器人运动的平稳性,验证该算法在机器手臂轨迹规划过程中的可行性。重点讨论基于机器人手臂笛卡儿空间运动的轨迹规划和轨迹生成方法。

Cartesian Space Trajectory of Robot Arm Computer Simulation Program

This paper mainly studies based on Cartesian robot arm joint space trajectory planning problems.By com-puter under the environment of MATLAB software for computer simulation test of the algorithm,continuously and smoothly making the planning of the trajectory path so as to ensure the stability of the robot movement,verify that the algorithm feasi-bi-lity in the process of the machine arm trajectory planning.The major disscussion was based on the Cartesian robot arm empty movement trajectory planning and path generation method.