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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| Format: | Article |
| Language: | zho |
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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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| _version_ | 1850154552876072960 |
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| author | 王幼民 |
| author_facet | 王幼民 |
| author_sort | 王幼民 |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-811096ea11604a1d9616fbef4bc623cb |
| institution | OA Journals |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2003-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-811096ea11604a1d9616fbef4bc623cb2025-08-20T02:25:17ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392003-01-014244+47-6688672058机器人连续轨迹控制中的Bezier曲线轨迹优化与控制王幼民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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2003.03.016 |
| spellingShingle | 王幼民 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 Jixie chuandong |
| title | 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 |
| title_full | 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 |
| title_fullStr | 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 |
| title_full_unstemmed | 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 |
| title_short | 机器人连续轨迹控制中的Bezier曲线轨迹优化与控制 |
| title_sort | 机器人连续轨迹控制中的bezier曲线轨迹优化与控制 |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2003.03.016 |
| work_keys_str_mv | AT wángyòumín jīqìrénliánxùguǐjīkòngzhìzhōngdebezierqūxiànguǐjīyōuhuàyǔkòngzhì |