General motion planning method for manipulators with no impact
文献类型：会议论文
| 作者 | Chen P(陈鹏) ; Zhang F(张峰); Cui L(崔龙); Li HY(李洪谊)
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| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 |
| 会议日期 | December 12-14, 2013 |
| 会议地点 | Shenzhen, China |
| 关键词 | Biomimetics Interpolation Motion planning Robotics |
| 页码 | 2303-2308 |
| 通讯作者 | 陈鹏 |
| 中文摘要 | This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator's end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects. © 2013 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-2744-9 |
| WOS记录号 | WOS:000352739000382 |
| 源URL | [http://ir.sia.cn/handle/173321/14770]  |
| 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 | Chen P,Zhang F,Cui L,et al. General motion planning method for manipulators with no impact[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, China. December 12-14, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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