摘要
本论文对双臂机器人时间最优轨迹规划问题作了深入研究，成功地运用了动态规划法，对沿着特定路径运动的双臂机器人左、右臂进行了时间最优轨迹规划，从而保证机器人左、右臂在无碰撞的前提下，实现时间最优运动．算法通过了计算机仿真实验，证明算法可行。
This paper makes a profound research on time optimum trajectory planning of dual arm robot. The problem of time optimum trajectory planning of dual arm robot along a specified path is solved by using dynamic programming. With this algorithm, the two manipulators of the dual arm robot is guaranteed to move in an optimal manner and not to collide with each other. The algorithm has been proved to be feasible and effective by simulations.
出处
《机器人》
EI
CSCD
北大核心
1999年第2期98-103,共6页
Robot
基金
863网点基金
中日合作基金
