[1]韩军,郝立.机器人关节空间的轨迹规划及仿真[J].南京理工大学学报(自然科学版),2000,(06):540-543.
　HanJun HaoLi.Trajectory Planning and Simulation of Robot in Joint Coordinate System[J].Journal of Nanjing University of Science and Technology,2000,(06):540-543.
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机器人关节空间的轨迹规划及仿真()
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《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2000年06期
页码:
540-543
栏目:
出版日期:
2000-12-30

文章信息/Info

Title:
Trajectory Planning and Simulation of Robot in Joint Coordinate System
作者:
韩军; 郝立1
南京理工大学制造工程学院, 南京210094
¹ 东南大学自动控制系, 南京210096
Author(s):
HanJun HaoLi ①
School of Manufacturing Engineering,NUST,Nanjing 210094)
关键词:
机器人;  仿真;  轨迹;  关节空间
Keywords:
robot ;  simulat ion;  paths;  joint coordinate system
分类号:
TP242.2
摘要:
为了保证搬运机器人在整个作业过程中运行平稳、连续 ,在关节变量空间直接进行轨迹规划 ,通过示教的方法 ,确定路径所经过的几个中间点。对于没有给定的区间 ,则利用 5次多项式进行轨迹插补 ,可方便、实时地得到机器人末端执行器的目标轨迹。应用该方法对搬运机器人关节空间轨迹规划进行仿真 ,得到的机器人工作过程中 4个关节的位移、速度、加速度的仿真曲线平滑、连续。实际运行也证明搬运机器人的关节运动的轨迹控制达到了预期的目的
Abstract:
In order to ensure mot ion smooth and steady of t ransport robot in process, t rajectory planning w as done in joint coordinate system. Some middle points in the path were determined by means of teaching, other points in path w ere defined by interpolation calculat ion of five order poly nomial, the object ive t rajectory can be obtained convenient ly and in t ime for robot trajectory planning in joint coordinate system. This method could be used to simulate joint t rajectory planning of t ransport robot . The results show that the curves of position speed, and accelerat ion of four joint are smooth and successive. It is proved that t rajectory cont rol of joint is appropriate to transport robot.

参考文献/References:

1 [ 美] 付京逊, 冈萨雷斯R C, 李C S G.机器人学. 杨静宇, 李德昌译.北京: 中国科学技术出版社, 1989
2 日本机器人学会编.机器人技术手册.宗光华译. 北京: 科学出版社, 19961 225~ 226

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备注/Memo

备注/Memo:
江苏省“九五”科技攻关资助项目
韩 军 女 37 岁 工程师
更新日期/Last Update: 2013-03-25