MANIPULATOR CARTESIAN PATH CONTROL

被引：97

作者：

PAUL, R

机构：

[1] School of Electrical Engineering, Purdue University, West Lafayette

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1979年 / 9卷 / 11期

关键词：

D O I：

10.1109/TSMC.1979.4310109

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In describing the motion of a manipulator we are concerned with the position to which the hand moves, as well as the path it traverses. Paths made up of straight line segments connected together by smooth transitions with controlled acceleration are proposed. Segments end points may be defined in various fixed and moving Cartesian coordinate systems. The evaluation rate of the straight line motion is analyzed and an interpolation scheme described. Copyright © 1979 by The Institute of Electrical and Electronics Engineers, Inc.

引用

页码：702 / 711

页数：10