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许多工程机械的工作装置属于冗余度机器人的范畴 ,该类机械施工控制自动化所涉及到的轨迹规划问题 ,一直受到人们的重视·采用冗余度机器人运动学的最小关节力矩法 ,对空间4R冗余度机器人的关节轨迹的运动规划进行了分析仿真·实验表明该方法实际可行 ,运动学和动力学的工作特性良好·
Many working equipments of construction machinery belong to the category of redundancy robot. The trajectory planning problem involved in construction control automation of this kind of machinery has always been valued by people. Using the minimum joint torque method of kinematics of redundancy robot, The motion planning of the joint trajectories of redundant robots is analyzed and simulated. Experiments show that this method is practicable and the kinematics and dynamics have good working characteristics.