According to the theory of robot kinematics, the mathematical model of robotic arms of milling drivers was built and simplified. Considering the actual requirements, a local radial route planning scheme was proposed which combined a parabola planning in the joint space and an arc planning in the Cartesian space in respect. Both theoretical analysis and MATLAB simulation demonstrate that the proposed combinational algorithm of route planning is practical and effective for the milling drivers in a local radial route.
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刘晓玉.基于圆弧插补和抛物线过渡算法的铣挖机掘进规划[J].机床与液压,2016,44(21):26-29. . Route Planning of Milling Drivers Based on Arc Interpolation and Parabolic Transition Algorithm[J]. Machine Tool & Hydraulics,2016,44(21):26-29