中南大学学报（自然科学版）2011，Vol.42Issue(5)：1344-1347,4.
改进的基于测地线的机器人轨迹规划方法
An improved robot trajectory planning method based on geodesics
摘要
Abstract
To solve the problem of the initial conditions of geodesics differential equations, a novel method based on differential motion was proposed.By way of analyzing the motion trajectory of robot between Riemannian space and three-dimensional space, their spatial mapping relationship was confirmed and a model used to compute the initial conditions was developed.Finally, a two-link manipulator was used to verify the application of this method.The results show that this model avoids the uncertainty problem existing in the linear search method used to solve initial conditions of the geodesics differential equations.关键词
机器人/轨迹规划/测地线分类
信息技术与安全科学引用本文复制引用
张延恒,孙汉旭,贾庆轩..改进的基于测地线的机器人轨迹规划方法[J].中南大学学报（自然科学版）,2011,42(5):1344-1347,4.基金项目
国家自然科学基金青年科学基金资助项目(50905019) （50905019）
中央高校基本科研业务费专项资金资助项目(2010PTB-07-01) （2010PTB-07-01）
