摘要
在关节空间中对机器人B样条轨迹进行了时间了短优化计算 ,该优化问题模型包括关节角速度、角加速度、角加加速度及力矩 4种约束 ,给出了优化计算方法 ,给出了PUMA560机器人前三铰B样条轨迹优化算例。
In this paper, time\|minimal path planning for robot is worked out with B\|splines. The physical constraints on Jointvelocity, acceleration, jeak and torques are considered in the optimization. The optimization algorithm is proposed. Finally an example on B\|splines path optimization for PUMA560 robot pre\|3 joints is presented for illustration.
出处
《机电工程》
CAS
2000年第4期57-60,共4页
Journal of Mechanical & Electrical Engineering
