【摘要】 将二自由度机器人的轨迹弧长指标视为黎曼度量,在黎曼空间内进行机器人的最佳轨迹规划.基于微分几何的方法,求出了具有此种黎曼度量的黎曼曲面上的测地线作为机器人的最佳轨迹,并进行了计算机轨迹仿真,验证了轨迹规划结果的正确性.更多还原

【Abstract】 The distance lengh of the trajectory of the 2-DOF robot manipulator is regarded as the Riemannian metric in this paper, and take the optimum trajectory planning in Riemannian space. Based on differential geometry, the geodesic on the abstract Riemannian surface is calculated to be the optimum trajectory. Whereas the computer simulation is carried out to verify the result obtained from the geodesic.更多还原