Title :
LSPB Trajectory Planning: Design for the Modular Robot Arm Applications
Author :
Li Xianhua ; Tan Shili ; Feng Xiaowei ; Rong Hailiang
Author_Institution :
Sch. of Mechatron. & Autom., Shanghai Univ., Shanghai, China
Abstract :
In this paper, we report a household service robot with multi-sensor and modular arms. According to the DH convention, the coordinate system of robot arm is established. The methods of solving direct and inverse kinematics are introduced. Because both acceleration and speed of the arm modular are limited, so LSPB trajectory planning method is designed for our robot arm. Simulations and experimental results on our modular robot arm are presented.
Keywords :
manipulator kinematics; multi-robot systems; path planning; service robots; LSPB trajectory planning method; coordinate system; household service multirobot system; inverse kinematics; linear segments with parabolic blends trajectory; modular robot arm applications; multisensor; Acceleration; DH-HEMTs; Equations; Manipulators; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Servomotors; Trajectory;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5365861
