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style="line-height: 16pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 16pt;">3</span><span style="line-height: 16pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 16pt;">轨迹规划及其动力学优化</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">3.1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">引言</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">轨迹规划是机器人运动控制的基础，轨迹规划的结果直接影响机器人工作过程中控 制系统的稳定性及其可靠性。合理的轨迹规划能够使机器人顺利完成空间复杂的轨迹曲 线，并准确、快速、平稳的到达指定位置，因此，机器人的轨迹规划算法研宄具有重要 的理论意义和工程价值。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">按轨迹规划的空间分类，轨迹规划方法可分为关节空间轨迹规划法和工作空间轨迹 规划法。在关节空间内对机器人进行轨迹规划，得到的关节空间运动学拟合曲线可直接 用于机器人的运动控制，拟合曲线不需要运动学逆解转换，不会发生机构的奇异现象; 在工作空间内对机器人进行轨迹规划，得到的工作空间内的拟合曲线需要利用运动学逆 解转换到关节空间，再将得到的关节空间内的拟合曲线用于机器人的运动控制，转换过 程中可能存在转换矩阵的奇异问题，但是，在一般情况下，在工作空间中进行轨迹规划 得到的拟合曲线一般具有优良的工作空间性能。为了进一步研宄比较</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人关节 空间和工作空间轨迹规划优缺点，本章将会分别使用关节空间和工作空间轨迹规划法对 </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人进行轨迹规划，并进行相应的动力学优化。最终，将关节空间轨迹规划和工 作空间轨迹规划结果进行对比，得到两种轨迹规划方法各自的优势，进而，提出新型的 关节空间和工作空间的混合轨迹规划方法及其动力学优化的数学模型。</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a 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