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Trajectory planning of robot was also researched. In this paper, path planning algorithm in the joint space and two kinds of linear interpolation algorithms in the Cartesian space were introduced. 本文还研究了机器人轨迹规划技术,讨论了SCARA机器人的关节空间轨迹规划算法和笛卡儿空间的两种直线轨迹插补方法。
trajectory planning algorithm 轨迹规划算法
Finally, an example on trajectory planning is given and simulated. 给出了算例并进行了仿真计算，验证研究的正确性。
The paper introduced the principles of case rotation system, presented the algorithm of trajectory planning, analyzed the characteristics of control system, and provided a compensation method for system friction nonlinearity by Coulomb friction model. 文中介绍了壳体翻滚系统的组成与原理,提出了一种轨迹规划的算法,分析了被控对象的特性,应用库仑摩擦模型补偿系统摩擦非线性,并对控制系统进行建模与仿真。
Recursion is achieved using dynamic planning algorithm. 对比的递推过程由动态规划算法实现。
The proposed interpolator can also be applied to the trajectory planning of the other parametric curves. 该算法同样可以应用于其他参数曲线的轨迹规划。
In this paper, an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied. 研究解决了基于工作空间焊接机器人无碰撞轨迹规划问题的有效途径几何图形法。
In the forth chapter, it is to analyze the kinematics on the ArP2Arm, and to discuss the trajectory planning of the arm. 还有硬件,如一个具有5DOF的机械手臂ArP2Arm。
In this paper, the influence ofinitial configuration on trajectory planning alg orithms for redundant robots is studied. 就初位形对冗余度机器人轨迹规划算法效果的影响进行了研究。
The hand path tracking and joint trajectory planning is a very important research topic in the field of robot applications. 手部路径跟踪和关节轨迹规划是机器人应用领域中一个非常重要的课题。
Consequently, two optimal dynamic trajectory planning problems in associated with this task space redundant DOF are investigated. 因此，本文即针对此直角座标空间多馀自由度提出两类最佳化动力轨迹规划问题及其求解方法。
The trajectory planning of wire-driven rehabilitative robot was researched according to pelvis motion in the plane while a healthy person walking. 摘要根据正常人步态运动中骨盆在水平面内的运动情况，对绳索牵引康复机器人进行了轨迹规划研究。
According to the nonholonomy and redundancy of a free floating space robot,we made a further research on trajectory planning under Descartes coordinate frame. 针对空间机器人非完整性和冗余性 ,对笛卡尔空间下的轨迹规划问题进行了研究。
A 3-RPS parallel platform for experiment is build up.With the inverse kinematics theory of parallel mechanism,the trajectory planning of moving platform is analyzed. 构造了3-RPS并联机构试验台,运用并联机构逆运动学分析理论,分析研究动平台的运动轨迹规划。
Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time. 本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。
Chapter 3 explains the principle and realization of the Route Planning algorithm, bring out the excellent store mode of the ENC data. 第3章航线自动生成算法的设计原理和实现过程，并提出优良的电子海图空间数据存储模式。
A geodesic based trajectory planning method for robots is proposed in this paper, which overcomes some shortcomings of traditional trajectory planning method. 摘要提出了一种基于测地线的机器人轨迹规划方法。
Particle Swarm Optimization is used to design the nonholomic motion planning algorithm of the unicycle. 采用粒子群优化技术设计了独轮机器人非完整运动规划算法。
To make the moving plat-form move fast, a path planning algorithm based on fuzzy inference system (FIS) is presented. 为满足其快速运动要求，提出一种基于模糊推理系统(FIS)的轨迹规划算法。
The second case is to track a series trajectory plans of walking for the biped robot. 透过计算，我们可以得到所有连杆的几何关系。利用连杆的几何关系，我们可以得到所有连杆的角度变化。