4-DOF Lettering Robot's Trajectory Planning
4-DOF Lettering Robot's Trajectory Planning
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发表时间：
2010
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通讯作者：
Zha Xin-wei
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作者：
Zha Xin-wei
为了使机器人书写流畅、稳定，探讨了四自由度刻字机器人轨迹规划的理论方法，将三次多项式插值法与防止加速度突变的三次样条插值法相结合，然后通过AS-MRobot实验平台，用VC++对两种方法进行编程，实现了机器人的轨迹规划。
In order to make the robot write smoothly and stably,the paper discussed the theory method of trajectory planning of 4-DOF lettering robot,by combining cubic polynomial interpolation method with cubic spline interpolation method preventing the mutation of acceleration.And then,through the experiment platform of AS-MRobot,the two methods were programmed to realize the trajectory planning of robot by VC++.