摘要
利用 B样条函数逼近机械手运动轨线 ,并通过引入样条曲线的伪距离和伪速度参量化解轨迹 ,进一步利用动态规划法进行二维动态寻优 ,最终获得机械手时间能量综合最优轨迹 .
In this paper, robots paths are approached by B spline through introducing pseudo distance and pseudo velocity variables to parameterize the path. We also use dynamic programming carry out two dimension dynamic optimization and find the time fuel synthetic optimal trajectory for robots.
出处
《应用科学学报》
CAS
CSCD
2002年第4期346-349,共4页
Journal of Applied Sciences
