摘要
本文在Lin和J.Y.S.Luh等人工作的基础上。提出了一种新的机器人CP(连续轨迹Continuous Path的缩写)运动轨迹规划算法,其中连续路径由一组直角坐标下的参数方程来描述,时间区间[0,T]被分成m段,各轨迹段的拟合多项式系数采用递推方式求得,这不仅易于计算机实现,且计算量也较少。本文对时间最优轨迹规划问题进行了分析,并提出了一种有效的算法。
This paper presents an algorithm of robot CP motion trajectories planning based on the work done by J. Y. S. Luh etc. The traveling path is specified by a set of parameter equations in Cartesian coordinate. The time interval[O, T] is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recurrence form. The problem of minimum-time trajectories planning and the determination of m are also studied in the paper. Compared with the cubic spline function approach presented by Luh etc., the proposed algorithm is not only easily converted into computer programs, but also needs less computation.
关键词
机器人
轨迹规划
递推
时间优化
Robot
Trajectory Planning
Recurrence
Time-optimum.
