Path-constrained time-optimal robot control
文献类型：会议论文
| 作者 | Xie DM(谢冬梅); Qu DK(曲道奎); Xu F(徐方) |
| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2006) |
| 会议日期 | December 17-20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | time-optimal control velocity limit curve switching trajectory regulation |
| 页码 | 1095-1100 |
| 通讯作者 | 谢冬梅 |
| 中文摘要 | Fast movement along a predefined path is important for many robot applications, especially in cluster tool robots, requires utilization of the maximum allowable torque range. Robot running along the time-optimal path brings many benefits such as higher productivity. In this paper, moving a delicate object from an initial point to a specified location along a predefined path within the minimum time under a damage-free condition is studied, To achieve this goal, the dynamics of robot is first described as the formulation using arc differential of the predefined path in Cartesian coordinates. Then, the range of acceleration is deducted from the torque limitations, and the method of computing the maximum and minimum acceleration is given. This range can be modified by consideration of the geometrical constraints. Considering the torque constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. After that, a method to solve the time-optimal problem is presented, and the detailed process is explained. In this way time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This algorithm is implemented on a 2-arm, 2-dof cluster tool robot and its validity is proven by simulation result. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ |
| 会议录 | 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0570-1 |
| WOS记录号 | WOS:000245907301092 |
| 源URL | [http://ir.sia.cn/handle/173321/7671]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Xie DM,Qu DK,Xu F. Path-constrained time-optimal robot control[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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