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;Ch.7 Trajectory Planning of Robots ;Ch.7 Trajectory Planning of Robots ;7.1 General Considerations in Trajectory Planning 轨迹规划应考虑的问题;7.1 General Considerations in Trajectory Planning;Joint space Easy to go through via points (Solve inverse kinematics at all path points) No problems with singularities Less calculations Can not follow straight line Cartesian space We can track a shape (for orientation : equivalent axes, Euler angles,…) More expensive at run time (after the path is calculated need joint angles in a lot of points) Discon