Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots
文献类型：期刊论文
| 作者 | Tan GZ(谭冠政); Wang YC(王越超)
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| 刊名 | 控制理论与应用
 |
| 出版日期 | 2003 |
| 卷号 | 20期号:2页码:185-192 |
| 关键词 | Industrial Robot Time-optimal Trajectory Planning Trajectory Control Quadratic Polynomial Cosinoidal Function Optimization Algorithm |
| ISSN号 | 1000-8152 |
| 其他题名 | 工业机器人时间最优轨迹规划及轨迹控制的理论与实验研究 |
| 产权排序 | 2 |
| 英文摘要 | A new method used for time-optimal trajectory planning and control of industrial robots is proposed, which can ensure the motion of a robot's hand along a specified path in Cartesian space has the minimum traveling time under the constraints on the boundary values of joint displacements, velocities, accelerations, and jerks. In this method, the planned joint trajectories are all expressed by a quadratic polynomial plus a cosinoidal function and are continuous not only in displacements, velocities, accelerations but also in jerks. By using the method, a robot's working efficiency can be raised and its life span can be extended. The results of computer simulation and experiment with a Unimate PUMA 560 type robot proves that this method is correct and effective. It provides a better solution to the problem of industrial robot's time-optimal trajectory planning and control under the nonlinear kinematical constraints. |
| 语种 | 英语 |
| CSCD记录号 | CSCD:1331940 |
| 公开日期 | 2010-11-29 |
| 源URL | [http://210.72.131.170//handle/173321/3169]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.Robotics Laboratory, Chinese Academy of Sciences 2.Institute of Robotics, Central South University |
| 推荐引用方式 GB/T 7714 | Tan GZ,Wang YC. Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots[J]. 控制理论与应用,2003,20(2):185-192. |
| APA | Tan GZ,&Wang YC.(2003).Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots.控制理论与应用,20(2),185-192. |
| MLA | Tan GZ,et al."Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots".控制理论与应用 20.2(2003):185-192. |
入库方式： OAI收割
来源：沈阳自动化研究所
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