机器人操作臂奇异路径约束最优轨迹规划_连广宇 2002.pdf

24 6 机器人　ROBOT Vo l . 24, N o . 6 2002 11 No v . , 2002 : 1002-0446( 2002) 06-0550 -04 X 连广宇　赵清杰　孙增圻 ( 100084) : . , , . , , , , . , , . : ; ; ; ; : 24 : T P B - SINGULAR PATH CONSTRAINED OPTIMAL TRAJECTORY PLANNING FOR ROBOTIC MANIPULATORS L IA N Guang -y u ZHA O Q ng-J eSU N Zeng-q (Dep artment of Comp uter S cience and T echnology , Tsinghua Univ ersity, B eij ing100084) Abstract: Key to the pat h -constra ned tr ajecto ry plann ng s to ntro duce a pat h par ameter t o reduce t he pro blem nto a lo w -d mens o n one. Wh le the path pass ng t hr o ug h s ng ular t es, jo nt var able can hardly be pr esent ed a s analyt cal funct o ns o f ta sk space-def ned par ameter s, w h ch cau ses d ff cult es g ven to co nvent o na l traj ector y plann ng . I n th s paper , a new pa ramet er , ar c-leng th o f the so lut on cur ve to the path t rack ng equat on , s ntr oduced . Based on th s, the path -tr ack ng pro blem nea r s ngular t es s addressed , and s ngula r path -constr a ned tr ajecto ry plann ng s t ransfor med nto a standa rd o pt m zat on pr oblem , w h ch can be solved by dynam c pro gr amm ng . S mulat on sho w s t he par ameter zat o n co mb ned w th dynam c pr og ramm ng perfo rm s eff ect vely n s ngular path t raj ect or y plann ng . Keywor s: k nemat c s ng ular ty , s ng ular pat h , opt mal t raj ect or y pla nn ng , dynam c pro gr amm ng 1( Intro uction) , ,