| Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ) |
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| 引用本文： | 谭冠政,胡生员.Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)[J].中南工业大学学报(英文版),2002,9(4). |
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| 作者姓名： | 谭冠政 胡生员 |
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| 作者单位： | College of Information Science and Engineering, Central South University, Changsha 410083, China |
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| 基金项目： | FoundationoftheRoboticsLaboratory，ChineseAcademyofSciences (No :RL2 0 0 0 0 2 ) |
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| 摘 要： | 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 segments of the path. But, this method resulted in the heavier on-line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.
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Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ) |
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| Affiliation: | College of Information Science and Engineering, Central South University, Changsha 410083, China College of Information Science and Engineering, Central South University, Changsha 410083, 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 segments of the path. But, this method resulted in the heavier on-line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly. |
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| Keywords: | industrial robot real-time accurate hand path tracking joint trajectory planning extra knot sinusoidal function cosinoidal function |
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