面向口腔种植的机器人多姿态轨迹平滑规划

仲重亮,刘云峰,朱伟东,朱赴东

Multi-orientation trajectory smoothing planning of robot for dental implant

Chong-liang ZHONG,Yun-feng LIU,Wei-dong ZHU,Fu-dong ZHU

图 5 多姿态插补过程中旋转角度、角速度和角加速度变化曲线

Fig.5 Augular, angular velocity and angular acceleration changing curves during multi-orientation interpolation