三是运动控制卡轨迹规划的实现。
轨迹规划属于机器人低层规划问题。
介绍了一种双机器人时间优化的避碰轨迹规划方法。
A kind of track planning method for time-optimal and collision avoidance dual robots was introduced.
进而重点介绍机器人与生产线间的协调轨迹规划方法。
A method of coordinated trajectory planning between the robot and the production line is presented in detail.
根据该指标所进行的轨迹规划可以获得最小的关节驱动力矩。
The path planning carried out by this index will give a minimum joint driving torque.
该方法实现了模型的准确定位，集成了轨迹规划的位姿数据。
This simulation system can implement precise positioning of solid model in each frame and integrating data of trajectory planning.
主要研究移动焊接机器人在自寻迹过程中位姿调整的轨迹规划。
The trajectory planning of posture adjustment is presented for a weld mobile robot during auto-searching weld line.
提出了一种新的喷涂机械人控制系统模式及一种新的轨迹规划算法。
A new spray paint robots control system model and a new Trajectory planning arithmetic.
提出的运动轨迹规划方法对一般的6自由度绳牵引并联机构都适用。
Also, the method of motion trajectory planning proposed is applicable for general 6-dof wire-driven PKMs.
工业控制计算机进行空间轨迹规划计算而DMC实现关节运动的控制。
The computation of spatial trajectory planning was carried out by industrial computer, while joints motion control was performed by DMC.
另外还提出了高效的且合理的路径平滑、轨迹规划和视角规划的算法。
And efficient path smoothing, trajectory planning and orientation planning algorithm are also introduced.
基于最优载荷分配，针对双臂机器人协调运动的关节轨迹规划进行研究。
Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper.
而相应的插补运算、曲线轨迹规划、伺服控制算法等都由计算机来完成。
And the interpolation arithmetic, curve contrail programming and servo control are done by computer.
机器人的轨迹规划可以在关节空间中进行，也可以在直角坐标空间中进行。
The trajectory planning of robot can be done in joint space coordinate and Cartesian space coordinate.
本文从机器人任务空间的几何结构出发，对任务空间轨迹规划进行了总结。
The task space trajectory planning for robots is reviewed and analyzed based on the geometric structure of task space.
另外对二自由度稳定平台进行了轨迹规划和生成，推算出平台的运动参数。
Then parameter of motion is calculated after confirming the kinetic track of the two-degree of freedom stabilized platform.
最后，应用近似化方法和黎曼度量方法，研究了机器人最优轨迹规划的问题。
In the end, the problem of robot trajectory planning is investigated by the linearization method and Riemannian metric.
主要关键技术包括参数化特征建模、数控加工切削参数优化、刀具轨迹规划等。
Adopting the main key technologies including feature-based modeling, optimization of cutting parameter, layout of the cutters tracks etc.
主要关键技术包括参数化特征建模、数控加工切削用量优化、刀具轨迹规划等。
Adopting the main key technologies including feature-based modeling, optimization of cutting parameters, layout of the cutters tracks etc.
该方法适合于机器人在以线段和圆弧为边界障碍物环境下运动的轨迹规划算法。
This method is a trajectory planning algorithm which is adapted to the robot under the circumstance where the line segment and the arc are boundary obstacles.
轨迹规划功能是将加工代码所描述的零件轮廓形状转换成刀具中心的运动轨迹。
Trace layout module is to convert the profiles of accessories into the motion routes of the tools center.
宏微机器人轨迹规划离线进行，通过任务放大的方法分解宏微机器人运动学冗余。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
研究解决了基于工作空间焊接机器人无碰撞轨迹规划问题的有效途径几何图形法。
In this paper, an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied.
最后给出运动学模型的简化方法以及一个两级结构实体运动学模型的轨迹规划方法。
Finally, a predigestion method of maneuverable model and a path planing which has a two level structure is given.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticity is researched.
在毋需获知最优机动轨迹规划的情况下，可用于卫星任意时刻的姿态捕获和机动控制。
This method would be applied for the attitude capture and maneuvers control of the satellite at any time when the optimum maneuver trajectory was unknown.
本文主要针对高性能数字运动控制器中的轨迹规划，研究出最具运动平滑性的轨迹规划算法。
Therefore, this paper focuses on study of trajectory planning for high-performance digital motion controller, and gets the smoothest trajectory planning algorithm.
实验结果表明，跟踪误差渐近地减小到允许的数值范围，所提出的跟踪轨迹规划方法是有效的。
Experimental results show that the tracking error is gradually reduced to the range of small permitted value and the presented planning method is valid.
实验结果表明，跟踪误差渐近地减小到允许的数值范围，所提出的跟踪轨迹规划方法是有效的。
Experimental results show that the tracking error is gradually reduced to the range of small permitted value and the presented planning method is valid.
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