基于广义坐标的冗余度机器人运动轨迹的规划

摘要

Under the circumstance with obstacles, in order to make robot working in the position without contact, we have to program the track of robot. Here the generalized coordinates is suggested to gain the distance between protruding objects. It can help to reduce the calculating quantities. Therefore it is the best means to calculate the obstacle-avoidance impact track directly and quickly.%在有障碍的工作环境中，为了使机器人到达 其目标位置，并实现正常作业，就必须进行无碰撞轨迹规划。本文介绍了一种广义坐标法， 它能快速获得两空间凸形物的距离。因此，它在避障轨迹规划中是一种运算速度较快的计算 方法。