Question

单连杆机器人有一个转动关节, 静止于 $\theta=-20^{\circ}$ 。期望关节以光滑轨迹经过 $\theta=15^{\circ}$ 到 $\theta=60^{\circ}$ 。这些轨迹段的时间间隔是 $t_n=1$ 和 $t_f=2$ 。求出两个三次样条的系数, 连接这两段样条, 且中间点的加速度连续。

    单连杆机器人有一个转动关节, 静止于 $\theta=-20^{\circ}$ 。期望关节以光滑轨迹经过 $\theta=15^{\circ}$ 到 $\theta=60^{\circ}$ 。这些轨迹段的时间间隔是 $t_n=1$ 和 $t_f=2$ 。求出两个三次样条的系数, 连接这两段样条, 且中间点的加速度连续。

机器人学导论 introduction to robotics: mechanics and control

机器人学导论 introduction to robotics: mechanics and control

约翰 J.克雷格 4th Edition

Chapter 7, Problem 25

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We want to find the coefficients of two cubic splines that connect smoothly at the intermediate point $\theta = 15^{\circ}$ with continuous acceleration. Step 2: Set up the cubic spline equations For each segment of the trajectory, we can define the cubic spline Show more…

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单连杆机器人有一个转动关节, 静止于 $\theta=-20^{\circ}$ 。期望关节以光滑轨迹经过 $\theta=15^{\circ}$ 到 $\theta=60^{\circ}$ 。这些轨迹段的时间间隔是 $t_n=1$ 和 $t_f=2$ 。求出两个三次样条的系数, 连接这两段样条, 且中间点的加速度连续。

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