基于工业运动控制器的机器人线性笛卡尔轨迹生成

2011 16th International Conference on Methods & Models in Automation & Robotics Pub Date : 2011-09-29 DOI:10.1109/MMAR.2011.6031317

C. Zieliński, Tomasz Kornuta

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引用次数: 5

摘要

研究了机械臂的笛卡尔轨迹生成问题。所提出的解决方案依赖于笛卡尔空间和关节空间中样条系数的计算。该方法通过检查最大速度和加速度约束来考虑电机性能。在一种新型并联-串联混合运动结构的机械臂上进行了实验验证。

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Generation of linear cartesian trajectories for robots using industrial motion-controllers

The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.

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2011 16th International Conference on Methods & Models in Automation & Robotics

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