Real-time accurate hand path tracking and joint trajectory planning for industrial robots(I)
文献类型：期刊论文
| 作者 | Tan GZ(谭冠政); Liang F(梁丰); Wang YC(王越超)
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| 刊名 | Journal of Central South University of Technology
 |
| 出版日期 | 2002 |
| 卷号 | 9期号:3页码:191-196 |
| 关键词 | industrial robots real time accurate hand path tracking joint trajectory planning extra knot |
| ISSN号 | 1005-9784 |
| 产权排序 | 2 |
| 中文摘要 | Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car tesian 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. |
| 收录类别 | SCI ; EI |
| 资助信息 | FoundationoftheRoboticsLaboratory ChineseAcademyofSciences (No :RL2 0 0 0 0 2 ) |
| 语种 | 英语 |
| WOS记录号 | WOS:000179477000011 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7397]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Tan GZ,Liang F,Wang YC. Real-time accurate hand path tracking and joint trajectory planning for industrial robots(I)[J]. Journal of Central South University of Technology,2002,9(3):191-196. |
| APA | Tan GZ,Liang F,&Wang YC.(2002).Real-time accurate hand path tracking and joint trajectory planning for industrial robots(I).Journal of Central South University of Technology,9(3),191-196. |
| MLA | Tan GZ,et al."Real-time accurate hand path tracking and joint trajectory planning for industrial robots(I)".Journal of Central South University of Technology 9.3(2002):191-196. |
入库方式： OAI收割
来源：沈阳自动化研究所
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