机器人连续轨迹控制中的Bezier曲线轨迹优化与控制
Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in real-time control. Besides, the optimal model on time-minimal Bezier path planning for robot is presented. The physical constraints on joint trajectory velocity, accelerati...
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| Main Author: | |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2003-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2003.03.016 |
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| Summary: | Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in real-time control. Besides, the optimal model on time-minimal Bezier path planning for robot is presented. The physical constraints on joint trajectory velocity, acceleration, jeak and torques are considered in this model. The optimization algorithm is proposed. Finally an example on Bezier path optimization for PUMA560 robot pre-3 joint is presented for illustration. The optimum control model was enhanced. |
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| ISSN: | 1004-2539 |