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Abstract: The curve length of the two-DOF manipulator’s trajectory is
regarded as the Riemannian metric, and trajectory planning is researched
in the Riemannian space. Based on the moving frame method, the geodesics
on the Riemannian surface is obtained and is taken as the optimum
trajectory of the manipulator.
Then an example of the computer simulation is given. This method also
adapts to optimum trajectory planning based on other performance
indices.
Key words: Moving frame method Geodesic Trajectory planning
CLC No: TP24
国家自然科学基金资助项目(59975013). Received 20020830, received in revised form
20021030
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