CAJ | 학술논문

对四自由度机器人轨迹规划的理论方法进行了研究，主要介绍了关节空间中的三种插值时间函数：三次多项式插值、五次多项式插值和带抛物线过渡的线性插值，比较分析不同算法间的优缺点。然后以MT－R四自由度机器人为实验平台，基于MFC框架类，用VC＋＋开发一套机器人控制系统，软件实现轨迹规划算法。
대사자유도궤기인궤적규화적이론방법진행료연구，주요개소료관절공간중적삼충삽치시간함수：삼차다항식삽치、오차다항식삽치화대포물선과도적선성삽치，비교분석불동산법간적우결점。연후이MT－R사자유도궤기인위실험평태，기우MFC광가류，용VC＋＋개발일투궤기인공제계통，연건실현궤적규화산법。
This paper discusses the theory method of trajectory planning of 4-DOF robot,and analyzed three methods of trajectory planning based on joint space:the cubic polynomial trajectory planning,the fifth polynomial trajectory planning and the parabola transition trajectory planning,and analyzes,compares the characteristics of different algorithms.Through the experi-ment platform of MT-R Robot,this paper develops a robot control system by VC++,based on MFC.