摘要
提出了笛卡儿空间机器人连续路径(CP)轨迹规划方法,移动轨迹在笛卡儿坐标系中由1组参数方程说明.时间间隔[0,T]分为m段,在每个时间段,多项式的系数可以用递归的形式求出.
A method for robot continuous path motion trajectories planning in cartesian space is presented. The motion trajectories are specified by a group of parameter equations in cartesian coordinates. The time intervalis divided into m segments,and the coefficients of polynomial at each segment can be obtained in recurrence form.
出处
《北华大学学报（自然科学版）》
CAS
2002年第3期269-271,276,共4页
Journal of Beihua University（Natural Science）
