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提出一种利用三次和四次样条函数对关节变量进行插值轨迹规划的方法.对于机器人在三维空间全方位工作的任何笛卡尔轨迹,可选择任意多的节点,并选定任意的轨迹起点和终点的速度和加速度,使规划得到的轨迹准确。通过各节点预定的位置,有指定的起、终点速度和加速度,并且在各个节点有速度和加速度的连续性。全文约6000字,参考文献6。
A method of interpolating trajectory planning of joint variables using cubic and quadratic spline functions is proposed.For any Cartesian trajectory that the robot can work in omni-directional space in three-dimensional space, an arbitrary number of nodes can be selected and any trajectory start point and The speed and acceleration of the end point make the planned trajectory accurate. Predetermined locations through each node have designated start and end speeds and accelerations, with continuity of velocity and acceleration at each node. The full text is about 6000 words, reference 6.