Study on Mechanical Mechanics with A Method for Minimum-time Path Planning of Robots in Cartesian Space

被引：0

作者：

Xu, Xiangrong ^{[1
]}

Shi, Dongqing ^{[1
]}

Lu, Man ^{[1
]}

Xu, Hao ^{[1
]}

Zhou, Tao ^{[1
]}

机构：

[1] Anhui Univ Technol, Maanshan 243032, Anhui, Peoples R China

来源：

ADVANCED RESEARCH ON INFORMATION SCIENCE, AUTOMATION AND MATERIAL SYSTEMS III | 2013年 / 703卷

关键词：

Robot; Path planning; Trajectory; Minimum-time;

D O I：

10.4028/www.scientific.net/AMR.703.181

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an approach for robot motion path planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0,T] is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recursive form. The problem of minimum-time path planning and the determination of m are also studied.

引用

页码：181 / 185

页数：5

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