论文部分内容阅读
本学位论文以机器人轨迹规划为主攻方向,主要研究轨迹规划中的冗余控制和离线规划系统。论文的工作由两部分组成:第一部分针对冗余度机器人的轨迹规划,提出了用以改善灵活性、动力学性能以及障碍物躲避的控制算法。第二部分研制了机器人离线轨迹规划系统和超声测距装置。
This dissertation takes robot trajectory planning as the main research direction, and mainly studies redundant control and offline planning system in trajectory planning. The dissertation consists of two parts: The first part is aimed at trajectory planning of redundant robots, and proposes a control algorithm to improve the flexibility, dynamic performance and obstacle avoidance. The second part develops a robot offline trajectory planning system and ultrasonic distance measuring device.