English
资源说明：多约束条件的轨迹规划与生成技术，摘要如下：The core part derives a class of algorithms that generate motion trajectories for robotics systems on-line, that is, within one control cycle (typically one millisecond or less). Such an algorithm is executed in parallel to low-level
motion controllers, and systems using it are able to react instantaneously to
unforeseen (sensor) events. In order to answer the above question, the algorithm enables switchings from sensor-guided robot motion control (e.g.,
force/torque or visual servo control) to trajectory-following motion control
and vice versa, which is an important feature for the practical realization of
sensor-based robot motion control systems. The proposed on-line trajectory
generation algorithm acts as an open-loop pose controller at an intermediate
control layer that functions as one element of the important bridge between
low-level robot motion control and higher-level (sensor-based) motion planning. Furthermore, it enables robotic systems to perform a kind of robotic reflex.
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