空间椭圆弧轨迹规划的实现方法

【摘要】 用切线拟合和压缩圆两种算法实现了空间的椭圆弧轨迹规划。首先针对平面情况建立了数学模型 ,进而利用矢量旋转推广到一般的三维空间。仿真和实验均表明 ,压缩圆法的CPU耗时与圆弧规划在同一个数量级 ,可用于实时控制更多还原

【Abstract】 This paper presents two methods to implement the path plan of ellipse arc. One is tangent approach, and the other is the compression-circle. Firstly, two different Mathematical Models are constructed to analyze the mentioned ellipse arc plan in two-dimensional space, the results are then extended to three-dimensional space with rotational tensor. The results of simulations and experiments indicate that the compression-circle approach is good enough for real-time control.更多还原