Research and Simulation of Robot Trajectory Planning in Joint Space

摘要：

Studying methods of robot trajectory planning which based on polynomial and trapezoidal velocity profile in joint space. The trajectory of one joint robot and joints robot is simulated by MATLAB. The simulation results shows that it satisfies restraint conditions of robot position velocity and acceleration in motion, it guaranteed smooth and continuity.

关键词： robot trajectory planning polynomial MATLAB simulation

作者: Hu Xiaoping Zuo Fuyong

作者单位: Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiangtan 411201, China

会议类型: 国际会议

会议名称: The 3th International Conference on Precision Instrumentation and Measurement 2011(CPIM2011)(第三届精密仪器与测量国际学术会议)

会议地点: 湘潭

会议语种:英文

页码: 372-377

在线出版日期: 2011-07-19（万方平台首次上网日期，不代表论文的发表时间）