现代制造工程Issue(6)：62-68,7.DOI:10.16731/j.cnki.1671-3133.2017.06.011
一种新型板材安装机器人的空间直线轨迹规划
Space linear trajectory planning for a new type of slabstone-installing robot
摘要
Abstract
Based on the building slabstone-installing robot with independent development,related research was carried out about the space linear trajectory planning.The kinematics analysis was carried on the robot,and simulated CP control method with five times polynomial curve interpolation was used for the trajectory planning in the joint space,which ensures the real-time synchronization and velocity continuity in the movement control of each joint.With the help of Matlab robot toolbox and Labview programming software,related simulation and experiments were done to complete the task of space linear trajectory planning on the end of the robot.关键词
板材安装机器人/运动学分析/空间直线轨迹规划/五次多项式插值Key words
slabstone-installing robot/kinematic analysis/space linear trajectory planning/five times polynomial interpolation分类
建筑与水利引用本文复制引用
樊旭,杨冬,张改萍,李贺立,李铁军..一种新型板材安装机器人的空间直线轨迹规划[J].现代制造工程,2017,(6):62-68,7.基金项目
国家“十二五”科技支撑计划资助项目(2013BAF07B08) （2013BAF07B08）
