摘要
The path planning problem of manipulators isdivided into two steps: the first step is to achieve the optimum path for off-line process based on the on-line path tracking by adopting the existing approach, cubic spline functions are used for constructing joint trajectories for manipulators; the second step is that an algorithm is developed to schedule the time intervals between each pair of adjacent knots, such that the total traveling time of a manipulator is minimized with the physical constraints on joint velocities, accelerations, jerks.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 698-701 |
| 页数 | 4 |
| 期刊 | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| 卷 | 21 |
| 期 | 6 |
| 出版状态 | 已出版 - 2001 |