【摘要】 为使机器人轨迹便于分段处理 ,更好地用于实时控制 ,本文首次使用 Bezier曲线进行机器人轨迹规划 ;建立了机器人 Bezier轨迹时间最短优化模型 ,该优化模型包括关节角速度、加速度、加加速度及力矩四种约束 ;给出了优化计算方法。为说明本方法 ,文未给出了PU MA5 6 0机器人前三铰 Bezier轨迹优化算例更多还原

【Abstract】 Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in r eal-time control. Besides, the optimal model on time-minimal Bezier path plann ing for robot is presented. The physical constraints on joint trajectory velocit y, acceleration, jeak and torques are considered in this model. The optimization algorithm is proposed. Finally an example on Bezier path optimization for PUMA5 60 robot pre-3 joint is presented for illustration.更多还原