基于高次多项式插值的防护罩快速开启运动规划

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-01 DOI:10.1109/ROBIO.2012.6491314

Zuoxun Wang, De Xu, Baolin Wu, Fudong Li

{"title":"基于高次多项式插值的防护罩快速开启运动规划","authors":"Zuoxun Wang, De Xu, Baolin Wu, Fudong Li","doi":"10.1109/ROBIO.2012.6491314","DOIUrl":null,"url":null,"abstract":"A high order polynomial interpolation method is proposed for the motion planning of the fast opening of the protection cover, which is based on its characteristics to ensure the steady ability. Fifth-order polynomial is chosen to complete the motion planning, and subsection search method is employed to set its acceleration. Optimal planning path is achieved after several subsection searching, and MATLAB simulation confirms the validity and efficiency of the proposed method.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Motion planning for the fast opening of the protection cover based on high order polynomial interpolation\",\"authors\":\"Zuoxun Wang, De Xu, Baolin Wu, Fudong Li\",\"doi\":\"10.1109/ROBIO.2012.6491314\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A high order polynomial interpolation method is proposed for the motion planning of the fast opening of the protection cover, which is based on its characteristics to ensure the steady ability. Fifth-order polynomial is chosen to complete the motion planning, and subsection search method is employed to set its acceleration. Optimal planning path is achieved after several subsection searching, and MATLAB simulation confirms the validity and efficiency of the proposed method.\",\"PeriodicalId\":426468,\"journal\":{\"name\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2012.6491314\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2012.6491314","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

针对保护盖快速开启的特点，提出了一种高次多项式插值方法，用于保护盖快速开启的运动规划，以保证其稳定能力。采用五阶多项式完成运动规划，并采用分段搜索法对其加速度进行设置。经过多次分段搜索得到最优规划路径，MATLAB仿真验证了所提方法的有效性和高效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Motion planning for the fast opening of the protection cover based on high order polynomial interpolation

A high order polynomial interpolation method is proposed for the motion planning of the fast opening of the protection cover, which is based on its characteristics to ensure the steady ability. Fifth-order polynomial is chosen to complete the motion planning, and subsection search method is employed to set its acceleration. Optimal planning path is achieved after several subsection searching, and MATLAB simulation confirms the validity and efficiency of the proposed method.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

自引率

0.00%

发文量