用旋量方法规划机器人运动轨迹

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基金项目: 福建省自然科学基金

Planning Motion Trace of Robot by Spinor Method

Department of Precise Mechanics Engineering, Huaqiao University, Quanzhou 362011, P R China

摘要: 以姿态旋量描述机器人的位置姿态,在对偶空间中通过姿态旋量映射的点规划机器人的终端轨迹,具有直观、简便的独特优点.规划中直接根据跟踪误差进行收敛,提高了轨迹运行的动态精度,并适合于冗余自由度操作器.
- 旋量方法 /
- 机器人 /
- 规划 /
- 运动轨迹
Abstract: The spinors applied to describe position and attitude of robot are studied.In dual spaces,the terminal trace of robot is planned through the mapping point,of attitude spinors.As a handy method directly perceived through the sense,the spinor method directly converges tracking error in the planning.It promotes the dynamic accuracy of trace operation.It is also suitable to the exerciser with redundant freedom.
- spinor method /
- robot /
- planning /
- motion trace

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