【摘要】 为了解决工业机器人的运动平稳性问题以及提高其性能,基于轨迹规划算法提出了两种具体应用方法,即基于时间分割与基于位移分割法。分析了轨迹规划中的约束,介绍并比较了两种方法,采用梯形曲线仿真实验证明两方法,从3个方面比较二者的优缺点,说明可用来满足不同规划要求。更多还原

【Abstract】 In order to solve the problem of industrial manipulator movement stability and improve its performance,two kinds of application methods,segment methods based on time and displacement,are proposed in this paper.This paper analyzed the constraints of trajectory planning,then introduced and compared the two methods.Simulation based on trapezoidal curve algorithm for trajectory planning results proved that the two methods were feasible and could be applied to satisfy different planning requirements,according to three different ways in comparision.更多还原