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1. 发明授权

US5602968A Task space angular velocity blending for real-time trajectory generation 失效
标题翻译：任务空间角速度混合，用于实时轨迹生成
公开(公告)号：US5602968A
公开(公告)日：1997-02-11
申请号：US238041
申请日：1994-05-02
申请人： Richard A. Volpe
发明人： Richard A. Volpe
IPC分类号： B25J9/16 , G05B13/00 , G05B19/42
CPC分类号： B25J9/1664 , G05B2219/34098 , G05B2219/39242 , G05B2219/40512
摘要： The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F.sub.0 with a target velocity v.sub.0 including a linear target velocity .nu. and an angular target velocity .omega..sub.0 to smoothly and continuously divert the robot manipulator to a subsequent frame F.sub.1 by determining a global transition velocity v.sub.1, the global transition velocity including a linear transition velocity .nu..sub.1 and an angular transition velocity .omega..sub.1, defining a blend time interval 2.tau..sub.0 within which the global velocity of the robot manipulator is to be changed from a global target velocity v.sub.0 to the global transition velocity v.sub.1 and dividing the blend time interval 2.tau..sub.0 into discrete time segments .delta.t. During each one of the discrete time segments .delta.t of the blend interval 2.tau..sub.0, a blended global velocity v of the manipulator is computed as a blend of the global target velocity v.sub.0 and the global transition velocity v.sub.1, the blended global velocity v including a blended angular velocity .omega. and a blended linear velocity .nu., and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity .omega. over one discrete time segment .delta.t.
摘要翻译：本发明体现在一种控制机器人操纵器的方法，该机器人操纵器以包括线性目标速度nu和角度目标速度ω0的目标速度v0朝向目标帧F0移动，以平滑地并且连续地将机器人操纵器转移到随后的帧F1，确定全局转变速度v1，包括线性跃迁速度nu 1和角度转变速度ω1的全局转变速度，其定义混合时间间隔2τ0，其中机器人机械手的全局速度将从全局变化目标速度v0到全局转变速度v1，并将混合时间间隔2 tau 0分成离散时间段delta t。在混合间隔2 tau 0的离散时间段delta t的每一个期间，机械手的混合全局速度v被计算为全局目标速度v0和全局转变速度v1的混合，混合全局速度v包括混合角速度ω和混合线速度nu，然后，操纵器旋转相当于在一个离散时间段Δt上的混合角速度ω的积分的增量旋转。

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