Time optimal trajectory planning and control of substrate handling robot
文献类型：会议论文
| 作者 | Song JL(宋吉来); Xu F(徐方); Zou FS(邹风山) |
| 出版日期 | 2014 |
| 会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Substrate Handling Robot Parameter Identification Robot Control Time Optimal Trajectory Planning |
| 页码 | 2432-2436 |
| 中文摘要 | In this paper, we analyse the structure characteristics, and calculate the forward and inverse kinematics of substrate handling robot. Dynamics control of the robot is divided into horizontal and vertical directions axes, and friction and kinetic parameters are identified. Finally, we use the time optimal trajectory planning algorithm to give the curve, and Matlab robot toolbox is used in the experiment. By comparing the whole dynamics torque and the motor torque, the results prove the validity of the algorithm. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/16926]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Song JL,Xu F,Zou FS. Time optimal trajectory planning and control of substrate handling robot[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。