Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 40

The robot control problem is typically decomposed hierarchically into three tasks: path planning, trajectory generation, and trajectory tracking. The path planning problem, considered in Chapter 7, is to determine a path in task space (or configuration space) to move the robot to a goal position while avoiding collisions with objects in its workspace. These paths encode position and orientation information without timing considerations, that is, without considering velocities and accelerations along the planned paths. The trajectory generation problem, also considered in Chapter 7, is to generate reference trajectories that determine the time history of the manipulator along a given path or between initial and final configurations. These are typically given in joint space as polynomial functions of time. We discuss the most common polynomial interpolation schemes used to generate these trajectories.