机器人2012，Vol.34Issue(3)：380-384,5.DOI:10.3724/SP.J.1218.2012.00380
基于Shannon小波的报幕机器人轨迹控制
Trajectory Control of Announcer Robot Based on Shannon Wavelets
摘要
Abstract
Based on wavelets sampling theory, a trajectory control method is proposed for controlling die trajectory of an announcer robot At first, the kinematics model of the wheeled announcer robot is established, and the kinematic constraints are deduced. And then, the wavelet sampling function is constructed based on Shannon wavelets sampling theory. Furthermore, according to the track along which the announcer robot moves, a trajectory control method for cubic spline trajectory is presented. Experiments show that the proposed method is simple but reliable, and that the trajectory of the robot is controlled successfully.关键词
小波/轨迹控制/轮式机器人Key words
wavelet/ trajectory control/ wheeled robot分类
信息技术与安全科学引用本文复制引用
刘鹏玉,何永义,方明伦,李军..基于Shannon小波的报幕机器人轨迹控制[J].机器人,2012,34(3):380-384,5.基金项目
国家863计划资助项目(2007AA041604):上海市科委重点项目(07DZ05805). （2007AA041604）
