中文摘要：

针对机器人在抓取目标前的接近运动,提出一种基于Tau理论的仿生轨迹规划方法.Tau理论是认知科学研究者通过试验研究总结出的人和动物在接近和抓取物体时的运动策略.在Tau理论的基础上,对Tau理论的两种基本运动策略（Tau耦合策略和内部Tau-g引导策略）进行运动学分析.针对内部Tau-g引导策略初始加速度不为零的问题,提出内部jerk引导的策略（内部Tau-j引导策略）,并推导出基于Tau理论的机器人接近运动的轨迹规划公式.以三自由度平面机器人为例,进行轨迹规划、运动学分析、动力学分析、仿真和试验.结果表明,运用Tau理论进行轨迹规划,机器人手部的位置和姿态可在确定的时间同时到达目标,关节速度曲线、加速度曲线和驱动力矩曲线光滑连续,笛卡儿空间的轨迹是具有“钟形”光滑连续速度曲线的直线,验证了方法的有效性.

英文摘要：

A bio-inspired trajectory planning method for robot reaching movement to catch an object is presented.The method is based on the Tau theory which has been established by cognitive science researchers from studying the natural motion patterns when animals （including humans） approaching and catching a target object.Based on the Tau theory,two fundamental motion strategies,namely,the Tau coupling strategy and the intrinsic Tau-g guidance strategy have been analyzed.In order to solve the problem that the initial acceleration value is nonzero in the intrinsic Tau-g guidance strategy,a new strategy,namely,the intrinsic constant jerk Tau guidance strategy is presented.The trajectory planning formulae based on the Tau theory are derived.Trajectory planning,kinetics analysis,dynamic analysis,computer simulation and experiments are performed on a 3-DOF planar manipulator.The results show that,by using the proposed method,the end-effector can achieve reaching the target position and attitude at the same definite time with good continuity of joint velocity and acceleration,and the trajectory in Cartesian space is a straight path with a smooth bell-shaped velocity profile.