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机器人规划是人工智能与机器人学的一个令人感兴趣的结合点.本文首先在C.S.Lin,J.Y.S.Luh和R.P.Paul等工作的基础上,对机器人轨迹规划进行了较为全面的研究,分别建立了STANFORD、PUMA和3R三机器人的运动学模型及其Pascal解答,得到其正、逆问题的CAD算法;研究机器人在笛卡尔空间的运动用不同的算法描述和求解各种运动;通过对算法的改进,提高了精度.
Robot planning is an interesting combination of artificial intelligence and robotics.In this paper, based on the work of CSLin, JYSLuh and RPPaul, a more comprehensive study of robot trajectory planning was carried out, and STANFORD , PUMA and 3R three-robot kinematics model and its Pascal solution to obtain its positive and inverse problems of the CAD algorithm; research robot movement in Cartesian space using different algorithms to describe and solve a variety of motion; through the improvement of the algorithm, Improved accuracy.