【摘要】 为了提高六足机器人腿部控制的平稳性、动作快速性,利用五次B样条曲线进行关节空间轨迹规划,从而使关节运动的速度、加速度和脉动连续。利用B样条曲线的凸包性把腿部关节速度与加速度约束转化为对曲线控制顶点的约束。通过MATLAB遗传算法工具箱对运动轨迹进行时间优化,利用罚函数解决关节约束问题。仿真结果表明:该轨迹规划方法有效且可行。更多还原

【Abstract】 For improving the control stability and productivity of hexapod robot’s leg,the quintic B-spline trajectory planning strategy in the joint space was presented. The velocity,acceleration and jerk trajectory is continuous. According to the convex feature of B-spline,the joint constraints on velocity and acceleration was transformed to the control points of B-spline. Time optimal trajectory was planned together by the genetic algorithm toolbox of MATLAB. The penalty function was used to deal with the joint constraints.The simulation results show that the proposed trajectory planning method is effective and feasible.更多还原