摘要
为了消除机器手臂空间轨迹规划中采用一般插补法产生尖角的问题,结合空间直线插补和圆弧插补算法,提出一种新的圆弧连接匀速直线插补法,并引入"拟合度"的概念,在Matlab环境下对算法进行了仿真。结果表明,通过该算法以及对拟合度的调整可以获得最优规划路径。
In order to eliminate the sharp corners produced in machine arm trajectory planning of general interpolation method, combined with space linear interpolation and circular interpolation algorithm, a new circular connection mean linear interpolation method is put forward. The concept of ＂fitting＂ is introduced. The algorithm is simulated in Matlab environment. The optimal planning path can obtained through the algorithm and the adjustment fitting, and the algorithm has good feasibility at the machine arm trajectory planning.
出处
《湖南文理学院学报（自然科学版）》
CAS
2015年第4期20-24,29,共6页
Journal of Hunan University of Arts and Science(Science and Technology)
基金
江西省高等学校教学改革研究课题资助项目(JXJG–12–78–1)
关键词
插补算法
笛卡尔空间
轨迹规划
MATLAB仿真
interpolation algorithm
the cartesian space
trajectory planning
Matlab simulation
