【摘要】 为了实现机器人所期望的运动,需要在关节坐标系或直角坐标中来描述和定义机器人的轨线与有关的姿态。机器人操作器末端的位置、姿态、速度和加速度在轨迹规划中应是连续的.同时考虑到CP 控制机器人的一般作业要求,作者导出了5-4-5样条函数.其次,利用相对当前工具坐标的欧拉变换来表示下一点的姿态,从而提高了姿态规划的效率.最后,作者用5-4-5样条函数实现关节与直角坐标空间平滑连接与切换。更多还原

【Abstract】 In order to realize the desired motion of a robot,we need to desc-ribe and define the pose of the robot in the joint or Cartesian space.Thevarying of the manipulator’s position,orientation,velocity and accelerationshould be continuous.For this purpose,the authors derived the 5-4-5 samplefunctions that can be used in both joint and Cartesian planning.Secondly,anefficient and time-saving orientation planning method which utilizes Eulertransformation with respect to the current tool coordinate to define the orien-tation of next point has been presented,Finally,the smooth connection betweenjoint and Cartesian space is executed by using the 5-4-5 sample functions.更多还原