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应用科学学报 ›› 2002, Vol. 20 ›› Issue (4): 346-349.

• 论文 • 上一篇    下一篇

机械手时间-能量综合最优轨迹规划

邹继刚, 曾昭龙, 张锐, 刘合, 李文秀   

  1. 哈尔滨工程大学自动化学院, 黑龙江哈尔滨 150001
  • 收稿日期:2001-07-10 修回日期:2002-01-29 出版日期:2002-12-31 发布日期:2002-12-31
  • 作者简介:邹继刚(1974-),男,黑龙江鹤岗人,博士生;李文秀(1940-),男,山东海丰人,教授,博导.

Time-Fuel Synthetic Optimal Trajectory Planning for Robots

ZOU Ji-gang, ZENG Zhao-long, ZHANG Rui, LIU He, LI Wen-xiu   

  1. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2001-07-10 Revised:2002-01-29 Online:2002-12-31 Published:2002-12-31

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摘要： 利用B样条函数逼近机械手运动轨线,并通过引入样条曲线的伪距离和伪速度参量化解轨迹,进一步利用动态规划法进行二维动态寻优,最终获得机械手时间能量综合最优轨迹.

关键词: 时间-能量综合最优, 轨迹规划, 动态规划, B样条线

Abstract: In this paper, robots paths are approached by B-spline through introducing pseudo-distance and pseudo-velocity variables to parameterize the path. We also use dynamic programming carry out two-dimension dynamic optimization and find the time-fuel synthetic optimal trajectory for robots.

Key words: B-spline, trajectory planning, dynamic programming, time-fuel synthetic optimum

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