Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I) |
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Authors: | Tan Guan-zheng Liang Feng and Wang Yue-chao |
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Affiliation: | (1) College of Information Science and Engineering, Central South University, 410083 Changsha, China;(2) Robotics Laboratory, Chinese Academy of Sciences, 110015 Shengyang, China |
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Abstract: | Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through
increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational
burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate
hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by
a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly
raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase
markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective,
and has important value in increasing the application of industrial robots.
Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002)
Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation. |
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Keywords: | industrial robots real-time accurate hand path tracking joint trajectory planning extra knot |
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