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针对机器人操纵装置或机器人路径的平滑性研究,对轨迹节点的平滑离散是很有必要,此外,还建立了满足标准平滑度的轨迹路径。平滑起点和机器人的最终位置必须要精确定义,所以经典最小二乘法是不适用的。为了解决这个问题,提出了一种改进的最小二乘法。该方法要求首先建立一个平滑的运动轨迹,同时使其起点和终点保持一致,而且减小了机器人的驱动单元的动态负载和计算时间。
In order to study the smoothness of robotic manipulator or robot path, it is necessary to smooth the trajectory nodes. In addition, the trajectory path that satisfies the standard smoothness is also established. The starting point for smoothing and the final position of the robot must be precisely defined, so classical least squares is not applicable. In order to solve this problem, an improved least-squares method is proposed. This method requires first establishing a smooth trajectory while keeping its start and end points consistent and reducing the dynamic load and calculation time of the robot’s drive unit.