Trajectory Planning in Robotics
Trajectory Planning in Robotics
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DOI：
10.1007/s11786-012-0123-8
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发表时间：
2012-09-01
影响因子：
0.8
通讯作者：
Vidoni, Renato
中科院分区：
文献类型：
--
作者：
Gasparetto, Alessandro;Boscariol, Paolo;Vidoni, Renato
轨迹规划是机器人应用和自动化的一个基本问题。生成具有给定特征的轨迹的能力是确保在执行所需运动的质量和易用性方面取得显著结果的关键点，特别是在许多应用中需要的高操作速度下。本文讨论了机器人技术中轨迹规划的一般问题，概述了机器人文献中提出的生成无碰撞路径的最重要方法。然后讨论了给定路径的最优轨迹问题，并给出了一些有意义的解。
Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications. The general problem of trajectory planning in Robotics is addressed in the paper, with an overview of the most significant methods, that have been proposed in the robotic literature to generate collision-free paths. The problem of finding an optimal trajectory for a given path is then discussed and some significant solutions are described.