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摘要
<jats:p>This paper presents a novel computing method of spatial arc to solve the problem of large amount of calculation in the traditional spatial arc trajectories plan. First, position planning of spatial arc is computed based on three given points in Cartesian space. Second, axis-angle relationships method is used for the orientation planning. Finally, simulation on a 7-DOF manipulator clearly demonstrates the effectiveness of the proposed method.</jats:p>
- 出版日期2014-8
- 单位北京邮电大学
