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AN OPTIMAL TRAJECTORY PLANNING SCHEME FOR MANIPULATORS BASED ON CONTROL PRECISION
Author(s): 
Pages: 211-216
Year: Issue:  3
Journal: ROBOT

Keyword:  机器人轨迹规划模糊逻辑;
Abstract: 本文提出一种考虑控制精度的机器人轨迹规划方案.首先从运动的平稳性出发,将轨迹按弧坐标均匀采样,将各采样分段规划为匀变速运动;然后从工程角度分析了跟踪误差与控制器输出力矩的关系,提出根据控制误差对关节力矩进行模糊加权的二次规划方案,实验结果验证了该方法的有效性.
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