基于五次Hermite插值的机械臂最短路径规划研究

为了保证机械臂高效率和平稳的运行,机械臂运动轨迹曲线一般需要具有C~2连续性,且运动路径具有最优性.采用五次Hermite插值函数方法,构造机械臂的运动轨迹.求解最优化问题得到连接点处二阶导数信息,构造满足上述条件的曲线轨迹,最后给出了两个实例来验证该方法的有效性.

Shortest Path Planning Study of the Manipulator Based onDegree Five Hermite Interpolation

C2 continuity of manipulator trajectory and motion paths with optimal is generally required.In order to ensure high efficiency and smoothly of mechanical motion, a method based on degree five Hermite interpolation functions is presented to design manipulator trajectory.The curves obtained by degree five Hermite interpolations are C2 continue.At the same time, the distance of motion path is optimal in some sense, which makes the energy consumption of the manipulator is optimal.At the end of the paper, two examples are also listed to show the correctness of our method.