In order to ensure the smooth and efficiency of the manipulator in moving process, a timejerk optimal hybrid strategy was proposed for the trajectory planning of explosive ordnance disposal(EOD)robot when target capturing. Every pair of consecutive viapoints were connected through a cubic spine, and the best time interval was searched to optimize the capture trajectory between points. The results show that the trajectory of joint space moving is very smooth, and sharp change of volecity and acceleration is avoided, so the wear of machine structure is reduced and viberation is under control. The simulation in operating space of target capturing shows that the EOD robot arm can obey the predefined trajectory and strategy accomplishing the orientation adjustment in prefetch point, smoothly approaching and capturing the target without interference.
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张云峰,马振书,孙华刚,陆继山.一种基于混合策略的排爆机器人目标抓取轨迹规划[J].机床与液压,2015,43(21):86-90. . Target Capture Trajectory Planning of EOD Robot Based on Hybrid Strategy[J]. Machine Tool & Hydraulics,2015,43(21):86-90