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电网技术  2011 

输电线路除冰机器人的S形曲线加减速算法设计

, PP. 194-198

Keywords: S形曲线,除冰机器人,轨迹规划,加减速算法

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Abstract:

为提高输电线路除冰机器人的工作效率,达到节能的目的,提出了一种将S形曲线应用于机器人运动轨迹规划的方法。该方法充分利用了S形曲线的诸多优点,并对传统的复杂S形曲线算法进行了改进,采用4段加减速后退、2段加速前进的轨迹规划算法,同时还给出了相应的数学描述,最后通过仿真验证了该算法的实用性。

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