重庆邮电大学学报（自然科学版）2012，Vol.24Issue(1)：104-108,5.DOI:10.3979/j.issn.1673-825X.2012.01.020
基于关节空间轨迹规划的机械臂远程控制
Robot arm remote control based on trajectory planning in joint space
摘要
Abstract
Trajectory planning is quite significant to improve the robot arm's stability,reliability and work efficiency. In order to control the remote robot arm successively, stably, and with no jitter,this paper proposes the optimization algorithm based on trajectory planning in joint space. The algorithm uses a five order polynomial interpolation function to optimize the remote robot arm motion trajectory. The algorithm was used in the actual robot arm remote control experiment. The experiment results show: it makes each joint of robot arm motion successively and smoothly, it is real-time, the method can meet the work requirements. It establishes a basis of security application for the remote robot arm.关键词
机械臂/关节空间/轨迹规划/5次多项式Key words
robot arm/joint space/trajectory planning/five order polynomial分类
信息技术与安全科学引用本文复制引用
张毅,游群霞,罗元,周挥宇..基于关节空间轨迹规划的机械臂远程控制[J].重庆邮电大学学报（自然科学版）,2012,24(1):104-108,5.基金项目
科技部国际合作项目(2010DFA12160) （2010DFA12160）
重庆市科技攻关项目(CSTC,2010AA2055) （CSTC,2010AA2055）
