摘要
研究了双机器人协调跟踪平面复杂边缘任务中所涉及的运动规划问题。提出了一种简单、可行的双机器人笛卡儿空间内的协调任务分解策略。根据该策略,在一般笛卡儿空间内分析了双机器人的位置约束关系、提出了平面复杂曲线的基于曲线极大值的分段跟踪算法、对双机器人进行了关节空间的摆线轨迹规划。以正弦曲线为跟踪实例,通过仿真实验验证了分段跟踪算法的正确性。
This paper discusses the motion planning for planar complex edge tracking with two coordinated robots. A simple and feasible tactics to resolve the coordinated tasks of dual robot in Cartesian space is proposed. According to this strategy, the relation of positional constraint between two robots in Cartesian space is analyzed, a pieeewise tracking algorithm based on the maximum value of planar complex edge is proposed and the eyeloidal trajectories of dual robot in joint space are planning. Taking sine curve as a tracking example, some simulation experiments are performed to validate the perfectness of the pieeewise tracking algorithm.
出处
《电气自动化》
北大核心
2006年第5期20-22,38,共4页
Electrical Automation
基金
国家863计划资助项目(2004AAS44120)
国家自然科学基金(60275013)
关键词
双机器人协调
复杂边缘跟踪
运动规划
摆线轨迹
dual robot coordination complex edge tracking motion planning cycloidal trajectories
