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<div class="bm_haa cl"> <div class="bm_h cl"> <a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a><h1 class="xs2">文章</h1> </div></div> <div class="kjkjb"> <div class="bm vw" style="margin-bottom:0;"> <div class="h hm"> <div class="zxtoux"><img src="http://www.oecr.com/uc_server/avatar.php?uid=54876&size=small" /></div> <h1 class="ph">客座讲座：轨迹生成 斯坦福大学公开课：机器人学 10 </h1> <p class="xg1"> 时间：2015-7-19 01:10<a class="zz" href="home.php?mod=space&uid=54876">作者：update</a> 阅读<em id="_viewnum">(3381)</em> 评论: <a href="http://www.oecr.com/portal.php?mod=comment&id=3500&idtype=aid" title="查看全部评论"><em id="_commentnum">5</em></a></p> <div class="zxfb" ><a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a></div> </div> <!--[diy=diysummarytop]--><div id="diysummarytop" class="area"></div><!--[/diy]--> <div class="s"> <div class="ss"><div><span>导读： </span>机器人学第10课是由客座教授Krasimir Kolarov来上的，主要的内容是轨迹的生成。教授首先介绍了基本的问题：为机械手设计一个移动的方案。然后讨论了在关节空间和笛卡尔空间中的轨迹规划问题，并用一些例子说明设计中 ...</div> </div> <!--[diy=diysummarybottom]--><div id="diysummarybottom" class="area"></div><!--[/diy]--> <div class="d"> <!--[diy=diycontenttop]--><div id="diycontenttop" class="area"></div><!--[/diy]--> <table cellpadding="0" cellspacing="0" class="vwtb"><tr><td id="article_content"><span id="swf_mjI"></span><script type="text/javascript" reload="1">$('swf_mjI').innerHTML=AC_FL_RunContent('width', '520', 'height', '390', 'allowNetworking', 'internal', 'allowScriptAccess', 'never', 'src', encodeURI('http://swf.ws.126.net/openplayer/v02/-0-2_M6TN5NEEU_M6TN7KM72-vimg1_ws_126_net//image/snapshot_movie/2011/3/K/4/M6TN7KKK4-1421720937445.swf'), 'quality', 'high', 'bgcolor', '#ffffff', 'wmode', 'transparent', 'allowfullscreen', 'true');</script><div><br></div><div>机器人学第10课是由客座教授Krasimir Kolarov来上的，主要的内容是轨迹的生成。教授首先介绍了基本的问题：为<a href="http://machine.oecr.com" target="_blank" class="relatedlink">机械</a>手设计一个移动的方案。然后讨论了在关节空间和笛卡尔空间中的轨迹规划问题，并用一些例子说明设计中的难点。实际情况中，需要用三次或更高阶多项式来建模运动的轨迹，只要根据条件求解出相应的未知数即可。接着教授讲到了用直线运动（带有抛物线过渡）建模的情况，并用一个稍微复杂的情况实际讲解了如何利用已知条件来求解运动的各个参数（时间，速度等）。本课最后讨论了一下实时路径和障碍的问题。</div></td></tr></table> <!--[diy=diycontentbottom]--><div id="diycontentbottom" class="area"></div><!--[/diy]--> <script src="data/cache/home.js?eOg" type="text/javascript"></script> <div id="click_div"><table cellpadding="0" cellspacing="0" class="atd"> <tr><td> <a href="http://club.oecr.com/home.php?mod=spacecp&ac=click&op=add&clickid=1&idtype=aid&id=3500&hash=a1839f38a8e7c43c7e612acfdd54acb5&handlekey=clickhandle" id="click_aid_3500_1" onclick="showWindow(this.id, this.href);doane(event);"> <img src="static/image/click/jidan.gif" alt="" /><br />鸡蛋</a> </td> <td> <a href="http://club.oecr.com/home.php?mod=spacecp&ac=click&op=add&clickid=2&idtype=aid&id=3500&hash=a1839f38a8e7c43c7e612acfdd54acb5&handlekey=clickhandle" id="click_aid_3500_2" onclick="showWindow(this.id, 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