PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

Applied Mathematics and Mechanics (English Edition) ›› 2000, Vol. 21 ›› Issue (1): 109-116.

PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

林瑞麟

Department of Precise Mechanics Engineering, Huaqiao University, Quanzhou 362011, P R China

收稿日期:1998-02-05 修回日期:1999-10-30 出版日期:2000-01-18 发布日期:2000-01-18
基金资助:
the Natural Science Foundation of Fujian Province,China

PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD

Lin Ruilin

Department of Precise Mechanics Engineering, Huaqiao University, Quanzhou 362011, P R China

Received:1998-02-05 Revised:1999-10-30 Online:2000-01-18 Published:2000-01-18
Supported by:
the Natural Science Foundation of Fujian Province,China

摘要/Abstract

摘要： The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.

关键词: spinor method, robot, planning, motion trace

Abstract: The spinors applied to describe position and attitude of robot are studied. In dual spaces, the terminal trace of robot is planned through the mapping point, of attitude spinors. As a handy method directly perceived through the sense, the spinor method directly converges tracking error in the planning. It promotes the dynamic accuracy of trace operation. It is also suitable to the exerciser with redundant freedom.

Key words: spinor method, robot, planning, motion trace

中图分类号:

林瑞麟. PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD[J]. Applied Mathematics and Mechanics (English Edition), 2000, 21(1): 109-116.

Lin Ruilin. PLANNING MOTION TRACE OF ROBOT BY SPINOR METHOD[J]. Applied Mathematics and Mechanics (English Edition), 2000, 21(1): 109-116.

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