| 机器人PTP控制曲线研究 |
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| 引用本文： | 郝杰成,黄时聪.机器人PTP控制曲线研究[J].军械工程学院学报,1992(3). |
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| 作者姓名： | 郝杰成 黄时聪 |
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| 作者单位： | 军械工程学院，天津大学 |
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| 摘 要： | 本文根据点位控制机器人运动特点和其加速——匀速——减速三段控制方式,以及实时计算量的大小和所定义的点位控制机器人控制曲线参数——最大加速度系数、最大跃动系数,对点位控制机器人用控制曲线进行了系统、深入的分析,给出了一种变形sin加速度控制曲线,并在点位控制机器人上对其性能进行了验证。
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| 关 键 词： | 机器人 点位控制 控制曲线 轨迹规划 |
THE STUDY ON THE PTP CONTROL CURVES OF ROBOTS |
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| Hao Jiecheng,Ordnance Engineering CollegeHuang Shicong,Tianjin University.THE STUDY ON THE PTP CONTROL CURVES OF ROBOTS[J].Journal of Ordnance Engineering College,1992(3). |
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| Authors: | Hao Jiecheng Ordnance Engineering CollegeHuang Shicong Tianjin University |
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| Abstract: | According to the joint movement characters of PTP Robots, and positive acceleration -uniform speed-negative acceleration-three segments joint movement control method, and based on defined maximum coefficient of acceleration C and maximum coefficient of jerk R, and the computatinal time for real-time control, the curve set for PTP Robots is systemat- ically and deeply analysed in this paper. One kind of modified sine acceleration (n=4) curve (MSA) with very good performances is strongly suggested by comparing its combined proper- ties with that of other curves which have been traditionaly used. The problems when the MSA is used in practice are also discussed. |
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| Keywords: | robot PTP control control curve planning trajectory |
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