摘要
在真人使用一种助餐机器人样机进餐时餐勺位姿参数变化的基础上,用三次样条插值和三次多项式插值对机器人助餐全过程进行了轨迹规划。仿真证明规划的关节曲线光滑连续,保证机器人末端餐勺运动平稳、人性化,为机器人控制系统研究打下一定基础。
Based on the actual parameter of spoon position and posture when real person used the Meal-assistance Robot model,the trajectory planning of the robot model in the whole course was finished using the methods of cubic spline interpolation and cubic polynomial interpolation.The simulation shows that the joint angle planned is smooth and continuous,which guarantees the terminal spoon to move steadily.The planned trajectory is humanized to make foundation for the research of control system.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2010年第5期1232-1236,共5页
Journal of System Simulation
基金
国家科技型中小企业创新基金(08C26212301760)
哈尔滨市创新基金(2009RFKXG009)
关键词
助餐机器人
运动学
轨迹规划
三次样条
Meal-assistance Robot
kinematics
trajectory planning
cubic spline
