摘要
随着林业机械的不断发展,越来越多的工业机器人结构被应用于林业装备上。而轨迹规划作为工业机器人控制中的重要组成部分,一直是研究热点。本文介绍了机器人轨迹规划的概念和常见的经典轨迹规划算法,针对最优轨迹规划算法的研究现状作出了简要阐述,并指出了轨迹规划亟需解决的问题。
With the continuous development of forestry machinery,more and more industrial robot structures are applied to forestry equipment.As an important part of industrial robot control,trajectory planning has been a research hotspot.This paper introduces the concept of robot trajectory planning and usual classic trajectory planning algorithms,briefly explains the current research status of optimal trajectory planning algorithms,and points out the problems that need to be solved in trajectory planning.
作者
郭庆鹏
张长青
GUO Qing-peng;ZHANG Chang-qing(Beijing Forestry Machinery Research Institute of the National Forestry and Grassland Administration,Beijing 100029,China;Research Institute of New Technology,Chinese Academy of Forestry,Beijing 100091,China)
出处
《木材加工机械》
2019年第6期8-13,24,共7页
Wood Processing Machinery
基金
中央级公益性科研院所基本科研业务费专项基金“四头电主轴操作臂位姿控制系统研究”(项目编号:CAFYBB2017MB032).
关键词
林业装备
轨迹规划
机械臂
最优轨迹规划
forestry equipment
trajectory planning
mechanical arm
optimal trajectory planning
