Research of the Combined Trajectory Planning of Descartes Space and Joint Space
In order to get better meet the actual needs of trajectory,and to find a better method of trajectory planning,a combined space planning method for trajectory planning which combine Descartes space with joint space planning is found based on the former. Through the closed loop vector method,kinematic...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.030 |
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| author | Lai Xiao Liu Yong Luo Wenguo Dai Yanxia Zeng Han |
| author_facet | Lai Xiao Liu Yong Luo Wenguo Dai Yanxia Zeng Han |
| author_sort | Lai Xiao |
| collection | DOAJ |
| description | In order to get better meet the actual needs of trajectory,and to find a better method of trajectory planning,a combined space planning method for trajectory planning which combine Descartes space with joint space planning is found based on the former. Through the closed loop vector method,kinematics equation is established and the space trajectory is fitted based B spline function model,the motion curve of the joint space planning and the motion curve of Descartes space planning and the motion curve of combined space planning are obtained. Finally,through the prototype,the test verification is carried out. Through the analysis of the obtained results,it is found that the changes of the velocity and acceleration in the cycle time of combined space trajectory planning is better than the joint space trajectory planning or spatial planning of Descartes alone,and it will improve the quality of the whole movement of high level stability and reduce the impact in the movement process. Comparing with the experimental results,the movement trend tend to be consistent,the part of the curve have subtle difference and need further optimization but the method has very important significance for machine operation. |
| format | Article |
| id | doaj-art-6e8b4bd7954a4e61a52fbca3dba8e97e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-6e8b4bd7954a4e61a52fbca3dba8e97e2025-01-10T14:39:09ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014114214529928291Research of the Combined Trajectory Planning of Descartes Space and Joint SpaceLai XiaoLiu YongLuo WenguoDai YanxiaZeng HanIn order to get better meet the actual needs of trajectory,and to find a better method of trajectory planning,a combined space planning method for trajectory planning which combine Descartes space with joint space planning is found based on the former. Through the closed loop vector method,kinematics equation is established and the space trajectory is fitted based B spline function model,the motion curve of the joint space planning and the motion curve of Descartes space planning and the motion curve of combined space planning are obtained. Finally,through the prototype,the test verification is carried out. Through the analysis of the obtained results,it is found that the changes of the velocity and acceleration in the cycle time of combined space trajectory planning is better than the joint space trajectory planning or spatial planning of Descartes alone,and it will improve the quality of the whole movement of high level stability and reduce the impact in the movement process. Comparing with the experimental results,the movement trend tend to be consistent,the part of the curve have subtle difference and need further optimization but the method has very important significance for machine operation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.030Five link mechanismClosed loop vectorJoint spaceB splineTrajectory planning |
| spellingShingle | Lai Xiao Liu Yong Luo Wenguo Dai Yanxia Zeng Han Research of the Combined Trajectory Planning of Descartes Space and Joint Space Jixie chuandong Five link mechanism Closed loop vector Joint space B spline Trajectory planning |
| title | Research of the Combined Trajectory Planning of Descartes Space and Joint Space |
| title_full | Research of the Combined Trajectory Planning of Descartes Space and Joint Space |
| title_fullStr | Research of the Combined Trajectory Planning of Descartes Space and Joint Space |
| title_full_unstemmed | Research of the Combined Trajectory Planning of Descartes Space and Joint Space |
| title_short | Research of the Combined Trajectory Planning of Descartes Space and Joint Space |
| title_sort | research of the combined trajectory planning of descartes space and joint space |
| topic | Five link mechanism Closed loop vector Joint space B spline Trajectory planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.030 |
| work_keys_str_mv | AT laixiao researchofthecombinedtrajectoryplanningofdescartesspaceandjointspace AT liuyong researchofthecombinedtrajectoryplanningofdescartesspaceandjointspace AT luowenguo researchofthecombinedtrajectoryplanningofdescartesspaceandjointspace AT daiyanxia researchofthecombinedtrajectoryplanningofdescartesspaceandjointspace AT zenghan researchofthecombinedtrajectoryplanningofdescartesspaceandjointspace |