基于运动学约束的在线最小加速度轨迹规划

Q2 Computer Science 自动化学报 Pub Date : 2014-07-01 DOI:10.1016/S1874-1029(14)60014-8

Ying-Shi WANG , Lei SUN , Lu ZHOU , Jing-Tai LIU

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引用次数: 11

摘要

提出了一种基于简化运动规划(SMP)的多自由度机械臂系统在线轨迹生成方法。关键问题是寻找最小加速度轨迹规划(MATP)来优化手臂运动以减少干扰。并给出了在关节位置、速度、加速度和加速度等运动约束下解存在的充分必要条件。此外，该方法可以从任意初始状态在线激活到任意目标状态，使机器人可以随时改变原路径。最后，将该方法应用于具有7个自由度的真实仿人机械臂，验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints

A novel approach based on a type of simplified motion planning (SMP) is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom (DOFs). The key issue is to find minimum-acceleration trajectory planning (MATP) to optimize the arm motion to reduce disturbance. Moreover, necessary and sufficient conditions for solution's existence subject to all the kinematic constraints of joint position, velocity, acceleration and jerk are devised. Besides, this new method can be activated online from the arbitrary initial state to the arbitrary target state so that it enables the robot to change the original path at any time. Finally, the approach is applied to a real humanoid robot arm with seven DOFs to show its efficiency.

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来源期刊

自动化学报 Computer Science-Computer Graphics and Computer-Aided Design

CiteScore

4.80

自引率

0.00%

发文量

6655

期刊介绍： ACTA AUTOMATICA SINICA is a joint publication of Chinese Association of Automation and the Institute of Automation, the Chinese Academy of Sciences. The objective is the high quality and rapid publication of the articles, with a strong focus on new trends, original theoretical and experimental research and developments, emerging technology, and industrial standards in automation.