机械臂跟踪轨迹路径特征点方法有效性分析
Effectiveness Analysis of Path Feature Point Method for Manipulator Tracking Trajectory
张钦1
作者信息
- 1. 江苏联合职业技术学院 淮安生物工程分院,江苏 淮安 223200
- 折叠
摘要
考虑关节速率与载荷制约条件,确保规划轨迹可以有效发挥机械臂的驱动作用,目前传统方法需要对大量数据进行计算,整体效率偏低.因此,设计了一种机械臂跟踪轨迹路径特征点方法,并进行有效性分析.研究结果表明:该方法计算下形成了平滑过渡的速度和加速度曲线,获得的速度曲线能够达到连续光滑的性能要求.该研究表明本文方法具有很高的运行稳定性,对后续的机械臂路径特征点目标轨迹规划奠定一定的理论基础.
Abstract
Considering the constraints of joint speed and load,to ensure that the planned trajectory can effec-tively play the driving role of the manipulator,the traditional method needs to calculate a large number of data at present,and the overall efficiency is low.Therefore,a path feature point method for tracking trajectory of manipu-lator is designed and its effectiveness is analyzed.The results show that the velocity and acceleration curves of smooth transition are formed by the modified method,and the obtained velocity curves can meet the requirements of continuous smooth performance.The study shows that the proposed method has high operational stability,which lays a certain theoretical foundation for the subsequent trajectory planning of manipulator path feature points.
关键词
机器人/运动学模型/动力学模型/时间近似最优/轨迹规划Key words
robot/kinematic model/dynamic model/approximate optimal time/trajectory planning引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据