| 基于曲线等弧长分割的机器人轨迹规划 |
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| 引用本文： | 许瑛,封立耀,戚晓艳,付廷贵.基于曲线等弧长分割的机器人轨迹规划[J].南昌航空工业学院学报,2004,18(3):12-15,32. |
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| 作者姓名： | 许瑛 封立耀 戚晓艳 付廷贵 |
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| 作者单位： | 南昌航空工业学院机械系,南昌330034 |
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| 基金项目： | 江西省归国留学基金资助项目（CB200403009）,南昌航空工业学院科研基金资助项目（EC20023069） |
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| 摘 要： | 从机构学的角度，基于机器人机构运动方程中原动件角位移及其微分系数的变化关系，利用原动件的角位移在端点附近，其微分系数的值急剧增大的特征，对轨迹曲线上点的坐标进行变换，提出了输出输入角相互切换的基准和算法，以较少的计算量实现了轨迹曲线上输出点的等间隔分布，对机器人轨迹规划的研究具有积极意义。
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| 关 键 词： | 机器人 轨迹规划 等弧长 |
| 文章编号： | 1001-4926（2004）03-0012-04 |
| 收稿时间： | 2004-07-06 |
| 修稿时间： | 2004-07-06 |
Trajectory planning of robot based on equal arc-length synthesis for coupler curves |
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| XU Ying, FENG Li-yao, QI Xiao-yan, FU Ting-gui.Trajectory planning of robot based on equal arc-length synthesis for coupler curves[J].Journal of Nanchang Institute of Aeronautical Technology(Natural Science Edition),2004,18(3):12-15,32. |
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| Authors: | XU Ying FENG Li-yao QI Xiao-yan FU Ting-gui |
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| Institution: | Nanchang Institute of Aeronautical Technology, Nanchang, Jiangxi 330034 |
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| Abstract: | In this paper, for the purpose based on mechanisms, a procedure is presented for arranging points on the coupler eurve with an equal distance, in which the input and output angles are interchanged according to whether the differential coefficient of the output angle is greater than some reference values or not. Furthermore, a pattern matehing method is presented for synthesizing the coupler eurve of the trajectory planning of robot. |
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| Keywords: | Robot Trajectory planning Equal arc - length |
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