摘要
针对多功能运送车,空间运动的实际需求结合四轮实时轨迹插补算法,运用离线编程软件仿真得到四轮导向轮末端运行轨迹,路径转角精确平稳连续。通过Matlab仿真得到四轮导向轮各个角度及速度变化曲线和速度变化曲线,四轮配合角度曲线平滑连续,四轮配合转换速度曲线合理无突变。导向轮和行动轮之间组成的多轴系统中,运行轨迹连续稳定,速度曲线满足工艺要求。该方法应用于多功能车中,满足车辆运动过程中调速和实时调整轨迹的需要。规划结果表明四轮导向规划方法是正确的。
Multi-functional transport vehicles,space motion of the actual needs of real-time trajectory with four interpolation algorithms,the use of off-line programming software-oriented four wheel end of the simulation to be run track,path,smooth continuous rotation accuracy.Matlab simulation to be driven by four different angles and wheel speed curve and speed curve,the vehicles angle 4 with the smooth curves of continuous,four with the conversion speed curve of a reasonable no mutation.Between the wheel and action-oriented wheel composed of multi-axis system to run the continuous and stable trajectory.Velocity curves to meet the technological requirements.This method is applied to multi-purpose vehicle,and the course of the campaign to meet the vehicle speed and real-time adjustment of trajectory needs.Planning results show that the four-oriented approach to planning is correct.
出处
《机电产品开发与创新》
2010年第6期30-32,共3页
Development & Innovation of Machinery & Electrical Products
关键词
多功能运送车
轨迹规划
MATLAB
Multi-purpose transportation vehicle
trajectory planning
Matlab
