摘要
对四自由度写字机器人轨迹规划的理论方法进行了研究,将三次多项式插值算法和防止加速度突变的三次样条插值算法在写字机器人轨迹规划中结合使用,使得书写的字体笔划平滑、稳定。以A S-M R obot型四自由度机器人为试验平台,用VC++对这两种算法进行编程实现。
In order to make the robot write smoothly and stably, the paper discussed the theory method of trajectory planning of 4- DOF lettering robot, by combining cubic polynomial interpolation method with cubic spline interpolation method preventing the mutation of acceleration. And then, through the experiment platform of AS-MRobot, the two methods were programmed to realizethe trajectory planning of robot by VC＋＋.
出处
《机械工程与自动化》
2010年第5期161-163,共3页
Mechanical Engineering & Automation
关键词
四自由度写字机器人
三次多项式算法
三次样条插值算法
轨迹规划
4-DOF lettering robot
cubic polynomial interpolation method
cubic spline interpolation method
trajectory planning
