机器人大臂机构轨迹规划的一种新算法

金属矿山 ›› 2008, Vol. 38 ›› Issue (10): 94-96.

机器人大臂机构轨迹规划的一种新算法

薄少军¹，樊炳辉²，宁洪涛²，丁胜华²，王跃庭²

1.内蒙古科技大学；2.山东科技大学

收稿日期:2008-08-14 出版日期:2008-10-15 发布日期:2011-07-13
基金资助:
国家863计划（编号：863-512-16-02）

A New Algorithm of Trajectory Planning of the Base Arm of Robot

Bo Shaojun¹，Fan Binghui²，Ning Hongtao²，Ding Shenghua²，Wang Yueting²

1.Inner Mongolia University of Science and Technology,；2.Shandong University of Science and Technology

Received:2008-08-14 Online:2008-10-15 Published:2011-07-13

摘要/Abstract

摘要： 借助于数值方法中的拟合手段来构造多项式函数，通过建立2个关键变量之间的正、逆向数学关系，对喷浆机器人大臂机构的运动轨迹进行了规划，并利用仿真分析的结果对其进行了检验。

关键词: 轨迹规划, 喷浆机器人, 数学关系

Abstract: By constructing a polynomial function by means of the fitting of numerical method and by establishing the direct and reverse mathematical relations between the two key variables, the trajectory planning of the base arm is made, which is verified by simulation analysis.

Key words: Trajectory planning, Shotcrete robot, Mathematic relation

薄少军, 樊炳辉, 宁洪涛, 丁胜华, 王跃庭. 机器人大臂机构轨迹规划的一种新算法[J]. 金属矿山, 2008, 38(10): 94-96.

BAO Shao-Jun, FAN Bing-Hui, NING Hong-Tao, DING Sheng-Hua, WANG Yue-Ting. A New Algorithm of Trajectory Planning of the Base Arm of Robot[J]. Metal Mine, 2008, 38(10): 94-96.