摘要
针对双足行走机器人数学描述复杂,分析较为困难等问题,采用五次多项式插值法规划机器人的关节运动轨迹,为每个关节设计相应的轨迹,达到运动学求解过程中所得出的转动角度,使机器人从起始位置运动到某个规定的目标位置,实现机器人在作业空间的行走。通过对机器人运动轨迹的分析,结果表明了用五次多项式插值法是一种规划双足机器人步态行走的较好方法,得到的机器人关节运动轨迹图更加光滑平稳。
In view of the complex mathematical description and difficult analysis of biped walking robots, quintic polynomial interpolation is introduced into the motion trajectory planning of the biped robot, with corresponding trajec- tory designed for each joint to reach the kinematics rotational angle, making the robot walk from the starting position to a predetermined target position. The robot trajectory analysis shows smooth motion trajectory of the biped robot.
出处
《电子科技》
2017年第2期45-48,共4页
Electronic Science and Technology
关键词
双足机器人
运动轨迹
五次多项式插值法
bipied robot
plan motion trajectory
quintic polynomial interpolation
