| 司艳伟 陈洪立.六自由度果蔬采摘机器人关节空间轨迹规划[J].轻工机械,2017,35(4):8-12 |
| 六自由度果蔬采摘机器人关节空间轨迹规划 |
| Joint Trajectory Planing of 6 DOF Fruit Vegetable Harvesting Robots |
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| DOI：10.3969/j.issn.1005 2895.2017.04.002 |
| 中文关键词: 果蔬采摘机器人 轨迹规划 三次B样条 笛卡尔空间轨迹 |
| 英文关键词:harvesting robot trajectory planing cubic B spline curve Cartesian Space trajectory |
| 基金项目:浙江省自然科学基金（LY15E050027）；国家自然科学基金项目（51205363） |
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| 摘要点击次数: 1286 |
| 全文下载次数: 1963 |
| 中文摘要: |
| 为了在计算机辅助设计(CAD)中实现织物模拟功能，设计了一个基于WebGL的织物模拟展示系统。通过K means聚类算法提取光照影响下的真实织物组织结构；基于实际组织结构对织物图案进行二维效果模拟；利用二维模拟效果图进行区域划分，使用伪曲面网格模型结构，在基于WebGL的三维模拟中对应三维模型上的自定义区域，最后融合光照模型能模拟出织物在实际三维场景下的真实感模拟效果。模拟结果表明可以得到具有真实感的效果，实现了模拟效果的场景化。该系统可以很好的实现织物二维和三维模拟的结合，具有辅助设计的功能和较好的实用价值。 |
| 英文摘要: |
| Aiming at improving the operation quality and the motion control performance of fruit vegetable harvesting robots, in the joint space, a cubic B spline interpolation function was proposed for trajectory planning and compared with the results of the 7th order spline interpolation. The mechanical model and the simulation model of 6 DOF fruit vegetable harvesting robot, which was regarded as the research object, were established by using Creo2.0 and robot toolbox of MATLAB. The movement state of the end effector was analyzed in operation space and the relation between joint space and operation space trajectory and the smoothness of the motion were studied. The research result showed that a smooth motion trajectory with reducing mechanical wear and shock could be obtained by using cubic B spline in the joint space, which could be used to promote the work quality and extend the working life of the manipulator. |
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