电气传动2018，Vol.48Issue(6)：78-81,87,5.DOI:10.19457/j.1001-2095.dqcd18474
一种基于优化方法的曲率最优过渡曲线生成算法
Curvature-optimal Transition Curve Generation Algorithm Based on Optimization Method
摘要
Abstract
In order to allow the manipulator to move continuously and rapidly,it is necessary to smooth the different paths. An algorithm based on optimization method to get the curvature optimal transition curve was illustrated. Firstly,the relationship between path boundary conditions and the weight of the transition path was established according to the geometric continuity. Then ,the weight range was pre-selected and normalized according to the distance between the third and fourth control points of the transition curve. The weight of the curvature in the optimal circumstances was got from the downhill simprex method,the final transition curve was obtained. By Matlab simulation, the resulting transition curve allows the manipulator to move as quickly as possible ,and the joints acceleration are continuous.关键词
机械臂/运动规划/过渡曲线/几何连续性/下降单纯形法Key words
manipulator/motion planning/transition curve/geometric continuity/downhill simplex method分类
信息技术与安全科学引用本文复制引用
蔡亮,王效杰,邓洪洁..一种基于优化方法的曲率最优过渡曲线生成算法[J].电气传动,2018,48(6):78-81,87,5.基金项目
国家重点研发计划项目(2016YFE0102800) （2016YFE0102800）
