兵工自动化Issue(9)：80-83,4.DOI:10.7690/bgzdh.2013.09.022
基于时间基准的挖掘机器人轨迹规划方法
Trajectory Planning for Excavating-Robot Based on Time Benchmark
张春华 1唐迎佳 2杨帆 3康林4
作者信息
- 1. 中国兵器工业第五八研究所军品部，四川 绵阳 621000
- 2. 中国兵器工业第五八研究所信息中心，四川 绵阳 621000
- 3. 总装备部重庆军代局 重庆 400060
- 4. 总装重庆军代局驻绵阳地区军代室，四川 绵阳 621000
- 折叠
摘要
Abstract
For realizing precise and stable trajectory planning and tracing, design the trajectory planning for excavating-robot based on time benchmark. Based on analyzing hydraulic excavating-robot autonomous task control features, realize continuous variation of position, speed and acceleration by using trapezoid speed control and S shape speed control. Based on this, realize detecting joint angle position and without detecting joint angle speed. The simulation analysis result shows that the control strategy can realize high precision stable control in excavating process, reduce attack and vibration of hydraulic system to achieve expected effect.关键词
挖掘机器人/轨迹规划/加减速控制/插补Key words
excavating-robot/trajectory planning/acceleration and deceleration control/interpolation分类
军事科技引用本文复制引用
张春华,唐迎佳,杨帆,康林..基于时间基准的挖掘机器人轨迹规划方法[J].兵工自动化,2013,(9):80-83,4.
