计算机工程与应用2018，Vol.54Issue(5)：36-50,15.DOI:10.3778/j.issn.1002-8331.1712-0116
关节型工业机器人轨迹规划研究综述
Research of trajectory planning for articulated industrial robot:A review
摘要
Abstract
Articulated industrial robots are widely used in modern industrial automatic production with their good flexibility and high efficiency, such as handling, palletizing, welding, cutting and so on. Trajectory planning is the basic research field of motion control on industrial robot,which determines the operating efficiency and movement performance.Trajectory planning of industrial robots combining operational requirements and robotic performance,guides the trajectory of end effector for robots in Cartesian or joint space.The concept and classification of trajectory planning of industrial robots are expounded in this paper.Various kinds of algorithms for trajectory planning are summarized comprehensively,including basic trajectory planning and optimal trajectory planning. The problems existing in various algorithms for trajectory planning and some future development trends are pointed out.关键词
工业机器人/关节型/轨迹规划/最优轨迹Key words
industrial robot/articulated/trajectory planning/optimal trajectory分类
信息技术与安全科学引用本文复制引用
李黎,尚俊云,冯艳丽,淮亚文..关节型工业机器人轨迹规划研究综述[J].计算机工程与应用,2018,54(5):36-50,15.基金项目
发改委新一代信息基础工程和"互联网+"重大科技专项(No.Z135060000070). （No.Z135060000070）
