TRAJECTORY PLANNING FOR MANIPULATORS AND ROBOTS

被引：0

作者：

RAKOTOARISOA, RD ^{[1
]}

VERCRAENE, F ^{[1
]}

COUTURIER, P ^{[1
]}

ESQUIROL, P ^{[1
]}

BETEMPS, M ^{[1
]}

JUTARD, A ^{[1
]}

机构：

[1] INST NATL SCI APPL,AUTOMAT IND LAB,F-69621 VILLEURBANNE,FRANCE

来源：

RAIRO-AUTOMATIQUE-PRODUCTIQUE INFORMATIQUE INDUSTRIELLE-AUTOMATIC CONTROL PRODUCTION SYSTEMS | 1991年 / 25卷 / 03期

关键词：

KINEMATICS; PLANNING; TRAJECTORY; ROBOTICS;

D O I：

暂无

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 deals with a method of trajectory planning using geometric and kinematic models. The method combines recent technics (<< Phase plane technics >>) and traditional technics (utilization of the kinematic model). Due to the simplicity of the proposed algorithm, it is easy to use the method. It allows to obtain, without complexity, reference trajectories usable for controlling a system.

引用

页码：229 / 246

页数：18

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