Analysis Of Inertial Stability Dynamical For Robot Based On Lie Algebra

摘要：

　　In order to improve the speed and accuracy of targets while avoiding the opponent’s riposte,this paper presents a method approach to robot trajectory planning which based on Lie algebra and on the background of a high degree of competitive against offensive and defensive network robot system (TLS).There are some key limitations in the Lie algebra planning process: 1.Vision limitations,to maintain the target in one’s own camera’s field of vision;2.Limitations of avoiding the robot hitting to vital parts from enemy while attacking;3.Kinematic constraints,to make robot avoid reaching the kinematic areas.Meanwhile,it uses the image-based visual servo tracking targets to meet the needs of attack and defense.

关键词： Lie Algebra Robot Stability Dynamical

作者: LAI Xin-Xing ZHONG Jin

作者单位: Faculty of Science,Jiangxi University of Science and Technology,Ganzhou Jiangxi 341000,China

会议类型: 国际会议

会议名称: 2015 Information Technology and Mechatronics Engineering Conference (ITOEC 2015)(2015信息技术与机电一体化国际会议)

会议地点: 重庆

会议语种:英文

页码: 111-114

在线出版日期: 2015-03-28（万方平台首次上网日期，不代表论文的发表时间）