机械科学与技术2001，Vol.20Issue(3)：350-352,3.
机器人关节空间Bezier曲线轨迹优化设计
Beizer Optimum Path Planning for Robot in Joint Coordinates
摘要
Abstract
Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in real-time control. Besides, the optimal model on time-minimal Bezier path planning for robot is presented. The physical constraints on joint trajectory velocity, acceleration, jeak and torques are considered in this model. The optimization algorithm is proposed. Finally an example on Bezier path optimization for PUMA560 robot pre-3 joint is presented for illustration.关键词
机器人/轨迹优化/优化设计分类
信息技术与安全科学引用本文复制引用
王幼民..机器人关节空间Bezier曲线轨迹优化设计[J].机械科学与技术,2001,20(3):350-352,3.
