机器人学基础_第7章_机器人轨迹规划.ppt

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010 Thank you For Attention! * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * Given: positions desired time durations the magnitudes of the accelerations Compute: blends times straight segment times slopes velocities signed accelerations * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points Inside segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points First segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points Last segment: * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points To go through the actual via points: Introduce “Pseudo Via Points” Use sufficiently high acceleration * 7.2 Joint–Space Schemes 7.2.5 Linear function with parabolic blendsfor a path with via points Ch.7 Trajectory Planning of Robots * Summary 7.5 Real Time Generation of Planning Trajectories 7.4 Planning of Cartesian Path Trajectories 7.3 Interpolated Calculation of Joint Trajectories 7.2 General Considerations in Robot Trajectory Planning 7.1 Ch.7 Trajectory Planning of Robots When path shapes are described in terms of functions of Cartesian position and orientation, we can also specify the spatial shape of the path between path points. The most common path shape is a straight line; but circular, sinusoidal, or other path shapes could be used. Cartesian schemes are more computationally expensive to execute since at run time, inverse kinematics must be solved at the path update rate. 7.3 Cartesian-Space Schemes * 7.3 Cartesian-Space Schemes Description of a task 7.3 Cartesian-Space Schemes * 7.3 Cartesian-Space Schemes Cartesian straight line motion Move from point Pi to Pi+1 , which described by relative homogenous transformation: 7.3 Cartesian-Space Schemes * 7.3 Cartesian-Space Schemes In order to ensure continu