导航
ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 1999, Vol. 20 ›› Issue (4): 44-47.
• 论文 • Previous Articles Next Articles
ZHAO Dong biao, ZHA Xuan fang, WANG Min, ZHU Jian ying
Received:
Revised:
Online:
Published:
Abstract: A novel method of optimal trajectory planning for robot manipulators in Cartesian space is presented based on the screw theory and the method of generating three dimension ruled surfaces, by determining the maximum or minimum value of the functional of the area and its change rate of the three dimension ruled surface generated by the locus of space motion of the orientation vector of robots. The simulation result of a 3 degree of freedom planar robot manipulator shows that the method is efficient.
CLC Number:
TP241
ZHAO Dong biao;ZHA Xuan fang;WANG Min;ZHU Jian ying . SCREW THEORY BASED OPTIMAL TRAJECTORY PLANNING FOR ROBOT MANIPULATORS[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 1999, 20(4): 44-47.
0 / / Recommend
Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks
URL: https://hkxb.buaa.edu.cn/EN/
https://hkxb.buaa.edu.cn/EN/Y1999/V20/I4/44