DocumentCode
3166382
Title
Omni-directional opera robot motion planning based on wavelet
Author
Peng-yu, Liu ; Yong-yi, He
Author_Institution
Shanghai Robot. Inst., Shanghai Univ., Shanghai, China
fYear
2010
fDate
29-30 Oct. 2010
Firstpage
525
Lastpage
528
Abstract
This paper presents a novel motion planning method based on wavelet sampling theorem and kinematics model of omni-directional opera robot. According to the method, the speed of each driving motor can be derived out in an easy way. However, the speeds at all the key points along the trajectory are the important parameters for the PLC control system of opera robot. Through experiment, the opera robot can be driven to move smoothly along the expected trajectory by the light of the method.
Keywords
mobile robots; motor drives; path planning; programmable controllers; robot kinematics; velocity control; wavelet transforms; PLC control system; driving motor speed; kinematics model; omnidirectional opera robot motion planning; wavelet sampling theorem; Automation; Robots; Kinematics model; Motion planning; Omni direction; Opera robot; Wavelet sampling theorem;
fLanguage
English
Publisher
ieee
Conference_Titel
Artificial Intelligence and Education (ICAIE), 2010 International Conference on
Conference_Location
Hangzhou
Print_ISBN
978-1-4244-6935-2
Type
conf
DOI
10.1109/ICAIE.2010.5640959
Filename
5640959
Link To Document