一种新的机械手最优轨迹的规划算法

陈忠泽; 颜国正; 林良明; 蔡弘

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一种新的机械手最优轨迹的规划算法

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- 一种新的机械手最优轨迹的规划算法
- Novel approach to generating optimal smooth trajectory for a manipulator
- 光学精密工程 2001年9卷第3期页码：242-246
- 作者机构：
  
  上海交通大学电子信息学院精密工程及智能微系统研究所上海,200030
- 作者简介：
- 基金信息：
  
  上海市曙光计划资助应用基础研究课题"精度造船型材切割机器人系统研究”()
- DOI：
  中图分类号： TP242
- 收稿日期：2001-01-17，
  
  修回日期：2001-03-01，
  
  网络出版日期：2001-06-15，
  
  纸质出版日期：2001-06-15
- 稿件说明：
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陈忠泽, 颜国正, 林良明, 蔡弘. 一种新的机械手最优轨迹的规划算法[J]. 光学精密工程, 2001,(3): 242-246

CHEN Zhong-ze, YAN Guo-zheng, LIN Liang-ming, CAI Hong . Novel approach to generating optimal smooth trajectory for a manipulator[J]. Editorial Office of Optics and Precision Engineering, 2001,(3): 242-246
陈忠泽, 颜国正, 林良明, 蔡弘. 一种新的机械手最优轨迹的规划算法[J]. 光学精密工程, 2001,(3): 242-246 DOI：

CHEN Zhong-ze, YAN Guo-zheng, LIN Liang-ming, CAI Hong . Novel approach to generating optimal smooth trajectory for a manipulator[J]. Editorial Office of Optics and Precision Engineering, 2001,(3): 242-246 DOI：

摘要

机械手轨迹规划的目标是其运行的快速、准确和平稳.基于这一目的

我们提出了一种新的获取机械手最优轨迹的能量最小准则:给定机械手末端轨迹的始末位置

根据其各自由度的加速度积分和最小的能量最小准则寻求满足约束的最优(平滑)轨迹.实验表明

规划的轨迹不仅平滑

而且安全(具有最优的速度、加速度轮廓).

Abstract

This paper deals with a novel approach to generating optimal smooth trajectory. Giving the start point and the target point in the workplace of the manipulator

the authors put forward the minimal energy trajectory that minimizes the integral of squared acceleration in each ROF

which is solved by a numerical iterative procedure that is devised for a solution of a constrained boundary value problem. The results show that the planned trajectories are not only smooth but also safe with optimal velocity and acceleration profile.

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references

Dubins K. On curves of minimal length with constraint on average curvature and with prescribed initial and terminal positions and tangents[J]. American Journal of Mathematics, 1957,79(3):497-516.

Loumond J P. Finding collision-free smooth trajectories for a non-holonomic mobile robot[A]. Proceeding 10th Int. Joint Conference on AI[C].1987,1120-1123.

Jiang K, et al. Minimal time smooth path planning for a mobile robot with kinematic constraints[A]. Proceeding IEEE Int. Workshop on Emerging Tech. and Factory Automation: Technology for Intelligent Factory[C]. 1992,531-536.

Cao B,et al. Time-optimal and smooth constrained path planning robot manipulators[A]. Proceeding 1994 IEEE Int. Conference on Robotics & Automation[C]. San Diego, California, USA,1994.

Kanayama Y, et al.Smooth local path planning for autonomous vehicles[A]. Proceeding IEEE Int. Conference on Robotics & Automation[C]. Philadelphia, Pennsylvania, USA, 1980.

Hussein A M, et al. On optimal constrained trajectory planning in the plan[J]. International Journal on Robotics & Automation, 1999,14(1):33-38.

诸静. 机器人与控制技术[M].杭州:浙江大学出版社,1992.

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