Motion Planning for Industrial Robots Based on Task Process Decomposition

• 作 者: BU Wanghui LIU Zhenyu TAN Jian
• 机 构: StateKeyLaboratoryofCAD＆CG
• 出 处: 中国机械工程学报
• 发表日期: 2010年2期
• 关键词: 工业机器人 任务分解 运动规划 robotic manipulator trajectory planning path planning virtual
• 基金项目: This project is supported by National Natural Science Foundation of China （Grant No. 50875239, Grant No. 50835008）, National Basic Research Program of China （973 Program, Grant No. 2007CB714007）, and

The existing research of the industrial robotic motion planning mainly focuses on the trajectory planning and the path planning,which aim at obtaining a minimum-time trajectory and finding an obstacle-free path respectively.In the trajectory planning,the