DocumentCode
3465723
Title
Generation of linear cartesian trajectories for robots using industrial motion-controllers
Author
Zielinski, Cezary ; Kornuta, Tomasz
Author_Institution
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Warsaw, Poland
fYear
2011
fDate
22-25 Aug. 2011
Firstpage
62
Lastpage
67
Abstract
The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.
Keywords
industrial manipulators; manipulator kinematics; motion control; position control; splines (mathematics); Cartesian spaces; Cartesian trajectory generation; industrial motion-controllers; joint spaces; linear Cartesian trajectories; manipulators; maximum acceleration constraints; maximum velocity constraints; parallel-serial kinematic structure; robots; spline coefficients; Acceleration; Equations; Heating;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2011 16th International Conference on
Conference_Location
Miedzyzdroje
Print_ISBN
978-1-4577-0912-8
Type
conf
DOI
10.1109/MMAR.2011.6031317
Filename
6031317
Link To Document