| 六自由度机器人S型曲线速度规划 |
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| 引用本文：刘蕾,曾辉,柳贺,孙英飞.六自由度机器人S型曲线速度规划[J].计算技术与自动化,2015,(2):42-45 |
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| 中文摘要:通过对机器人运动过程中的速度分段处理，得出平滑、稳定的速度曲线。根据矢量积法建立雅克比矩阵，将末端速度转换到机器人的关节速度，并且通过matlab仿真，验证这种规划方法的可行性。 |
| 中文关键词:机器人 S型曲线 雅克比矩阵 |
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| S-curve Velocity Planning for 6-DOF Robot |
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| Abstract:Through the segmentation processing of robot motion speed, a smooth speed curve was obtained. Jacobi Matrix was created by vector method, and the velocity was translated from Cartesian space to joint space. Finally, matlab simulation results verify the feasibility of the velocity planning. |
| keywords:robot S-curveJacobian matrix |
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