中国激光, 2019, 46 (2): 0204005, 网络出版: 2019-05-09
三维形貌测量机器人的轨迹规划技术 
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Trajectory Planning Technology of Three-Dimensional Shape Measurement Robots
图 & 表
图 2. 测量路径规划示意图。(a)路径法向指向;(b)规划的路径
Fig. 2. Schematic of planned measurement path. (a) Normal pointing of path; (b) planned path
图 4. 控制弦高法的测点分布
Fig. 4. Distribution of measurement points in controlling string height method
图 5. 控制弦高法与等步长采样法的拟合偏差比较
Fig. 5. Fitting deviation comparison between controlling string height method and equal step sampling method
图 6. 不同关节的位置变化曲线。(a)关节1;(b)关节2;(c)关节3;(d)关节5;(e)关节5;(f)关节6
Fig. 6. Position change of different joints. (a) Joint 1; (b) joint 2; (c) joint 3; (d) joint 4; (e) joint 5; (f) joint 6
图 7. 不同关节的速度变化曲线。(a)关节1;(b)关节2;(c)关节3;(d)关节4;(e)关节5;(f)关节6
Fig. 7. Velocity change of different joints. (a) Joint 1; (b) joint 2; (c) joint 3; (d) joint 4; (e) joint 5; (f) joint 6
图 8. 不同关节的加速度变化曲线。(a)关节1;(b)关节2;(c)关节3;(d)关节4;(e)关节5;(f)关节6
Fig. 8. Acceleration change of different joints. (a) Joint 1; (b) joint 2; (c) joint 3; (d) joint 4; (e) joint 5; (f) joint 6
图 9. 弓形测量路径的规划。(a) CAD数模;(b)表面提取;(c)路径规划;(d)路径曲线提取
Fig. 9. Bow measurement path planning. (a) CAD digital model; (b) surface extraction; (c) path planning; (d) path curve extraction
图 10. 基于图9(d)中第一条路径曲线的控制弦高法布点
Fig. 10. Controlling string height point based on first path in Fig. 9(d)
图 11. 基于图9(d)中第二条路径曲线的控制弦高法布点
Fig. 11. Controlling string height point based on second path in Fig. 9(d)
表 1仿真TCP位姿和真实TCP位姿的对比
Table1. Comparison between simulated and real TCP poses
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刘丽, 马国庆, 高艺, 范师杰. 三维形貌测量机器人的轨迹规划技术[J]. 中国激光, 2019, 46(2): 0204005. Li Liu, Guoqing Ma, Yi Gao, Shijie Fan. Trajectory Planning Technology of Three-Dimensional Shape Measurement Robots[J]. Chinese Journal of Lasers, 2019, 46(2): 0204005.
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