[1]郑亚青.绳牵引并联机器人的样条函数法运动轨迹规划[J].华侨大学学报(自然科学版),2007,28(2):113-116.[doi:10.3969/j.issn.1000-5013.2007.02.001]
　ZHENG Ya-qing.Trajectory Planning of Wire-Driven Parallel Manipulators by Using Spline Function Approach[J].Journal of Huaqiao University(Natural Science),2007,28(2):113-116.[doi:10.3969/j.issn.1000-5013.2007.02.001]
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绳牵引并联机器人的样条函数法运动轨迹规划()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第28卷
期数:
2007年第2期
页码:
113-116
栏目:
出版日期:
2007-04-20

文章信息/Info

Title:
Trajectory Planning of Wire-Driven Parallel Manipulators by Using Spline Function Approach
文章编号:
1000-5013(2007)02-0113-04
作者:
郑亚青
华侨大学机电及自动化学院 福建泉州362021
Author(s):
ZHENG Ya-qing
College of Mechanical Engineering and Automation, Huaqiao University, Quanzhou 362021, China
关键词:
绳牵引;  并联机器人;  样条函数法;  轨迹规划
Keywords:
wire-driven;  parallel manipulator;  spline function;  trajectory planning
分类号:
TP242
DOI:
10.3969/j.issn.1000-5013.2007.02.001
文献标志码:
A
摘要:
利用样条函数法,提出绳牵引并联机器人运动轨迹的规划方法,即各根绳的运动采用样条函数来拟合.方法简单、计算量小,不会出现奇异点问题,又可生成光滑平稳的、无噪声的绳的长度值和速度值之变化轨迹.但绳的加速度值变化轨迹存在突变点,在控制时可能出现绳的颤振问题.
Abstract:
A new method for trajectory planning of wiredriven parallel manipulators by using spline function approach.The motion of each wire of the manipulators is specified by a set of spline function.The method is simple and has less computation amount.In addition,the singularity can be avoided in the proposed method.So the method can be used to generate a smooth,steady and noiseless wires′ length and velocity trajectories of wire-driven parallel manipulators.But unfortunately,the trajectory of wires’ acceleration occurs some breaking points which maybe cause the flutter of wires during the control.

参考文献/References:

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备注/Memo

备注/Memo:
国家自然科学基金资助项目(50475099); 国务院侨办科研基金资助项目(05Q0019)
更新日期/Last Update: 2014-03-23