摘要
为了实现天车机器人吊钩末端轨迹规划及基于视觉的避障功能,建立了吊钩几何重心运动轨迹模型。首先,建立了天车机器人框架坐标系及吊钩几何重心轨迹模型,定义了吊钩柔索运动的椎体空间。其次,针对吊钩无摆动情况,分别对大车、小车单独运动和大车、小车同时运动情况建立了吊钩运动轨迹模型。最后,针对吊钩出现平面摆动情况,分别建立了大车直线运动伴随吊钩在xOz平面摆动及大车、小车直线运动伴随吊钩在xOz平面摆动的吊钩运动轨迹模型。
In order to realize the trajectory planning and obstacle avoidance function-based vision of crane hook, the geometric gravity center model of hook trajectory was established. First of all, the frame coordinate system and the hook geometric gravity center model were established, the vertebral space of hook movement was defined. Secondly, in the case of no swing of hook, the movement trajectory model of hook was established separately based on the independent movement of cart and trolley, and the simultaneous movement of cart and trolley. Finally, according to the hook plane swinging, the movement trajectory model of hook was established separately based on line motion of cart with the swing of the hook in xOz plane, and line motion of cart and trolley with the swing of the hook in xOz plane.
作者
解秀亮
陈至坤
王福斌
郭宝军
XIE Xiu-liang;CHEN Zhi-kun;WANG Fu-bin;GUO Bao-jun(College of Electrical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China;Department of Electronic Information and Control Engineering,Haibin College of Beijing Jiaotong University,Cangzhou Hebei 061199,China)
出处
《华北理工大学学报（自然科学版）》
CAS
2018年第4期88-93,共6页
Journal of North China University of Science and Technology：Natural Science Edition
