| 拟合法轨迹控制及其实现 |
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| 引用本文： | 陈黎明,陈铮,费开.拟合法轨迹控制及其实现[J].航空学报,1987,8(12):663-668. |
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| 作者姓名： | 陈黎明 陈铮 费开 |
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| 作者单位： | 南京航空学院 |
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| 摘 要： | 本文阐述了拟合法轨迹控制的基本原理、方法及应用。提出了在直角坐标系中用多段直线拟合曲线的方法,在极坐标系中用多段阿基米德螺线拟合曲线的方法。并将此方法应用到三自由度球坐标机械手上。实验证明,拟合法轨迹控制的方法是正确可行的。
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| 收稿时间： | 1986-08-19; |
THE CONTROL OF PATH BY CURVE FIT METHOD AND ITS REALIZATION |
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| Chen Liming,Chen Zheng,Fei Kai.THE CONTROL OF PATH BY CURVE FIT METHOD AND ITS REALIZATION[J].Acta Aeronautica et Astronautica Sinica,1987,8(12):663-668. |
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| Authors: | Chen Liming Chen Zheng Fei Kai |
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| Institution: | Nanjing Aeronautical Institute |
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| Abstract: | In this papsr, the control of path by curve fit method and its application are presented. In cartesian coordinates, segments of straight line are used to fit a given curve and in polar coordinates segments of Archimedes helix are used. This method is applied to a manipulator with spherical coordinates. The experiments show that it is feasible and easy to be realized. |
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