CAJ | 학술논문

针对一种有特定作业要求的五自由度机械手进行了轨迹规划研究。在运动学模型和工作空间的基础上，根据机械手末端的直线运动需求，不失一般性，设定所研究机械手的末端直线轨迹，分析了相应的轨迹规划的约束条件并建立约束方程。得到了在轨迹生成过程中各关节角和末端执行器作业中心的对应关系。详细分析了2种轨迹规划的算法，即多项式线性插值法和有界偏差关节路径法（BDJ P ）。并用这2种方法对机械手末端作业所需要的直线轨迹进行了仿真，给出仿真结果。
침대일충유특정작업요구적오자유도궤계수진행료궤적규화연구。재운동학모형화공작공간적기출상，근거궤계수말단적직선운동수구，불실일반성，설정소연구궤계수적말단직선궤적，분석료상응적궤적규화적약속조건병건립약속방정。득도료재궤적생성과정중각관절각화말단집행기작업중심적대응관계。상세분석료2충궤적규화적산법，즉다항식선성삽치법화유계편차관절로경법（BDJ P ）。병용저2충방법대궤계수말단작업소수요적직선궤적진행료방진，급출방진결과。
Traj ectory planning for a five DOF manipulator is studied in this paper.On the basis of the kinematic model and workspace,according to linear motion needs of manipulator ends, a straight traj ectory was set to analyze constraint and constraints equations were established.The correspondence between each joint angle and end effector operations center was obtained in the traj-ectory generation process.Details of the two kind of trajectory planning algorithm were introduced, that is polynomial interpolation and bound devia-tion joint path.A straight path which is used in actual operation was simulated with the two algo-rithms and the result was shown.