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Trajectory Planning and Simulation of Robot in Joint Coordinate System(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2000年06期
Page:
540-543
Research Field:
Publishing date:

Info

Title:
Trajectory Planning and Simulation of Robot in Joint Coordinate System
Author(s):
HanJun HaoLi ①
School of Manufacturing Engineering,NUST,Nanjing 210094)
Keywords:
robot simulat ion paths joint coordinate system
PACS:
TP242.2
DOI:
-
Abstract:
In order to ensure mot ion smooth and steady of t ransport robot in process, t rajectory planning w as done in joint coordinate system. Some middle points in the path were determined by means of teaching, other points in path w ere defined by interpolation calculat ion of five order poly nomial, the object ive t rajectory can be obtained convenient ly and in t ime for robot trajectory planning in joint coordinate system. This method could be used to simulate joint t rajectory planning of t ransport robot . The results show that the curves of position speed, and accelerat ion of four joint are smooth and successive. It is proved that t rajectory cont rol of joint is appropriate to transport robot.

References:

1 [ 美] 付京逊, 冈萨雷斯R C, 李C S G.机器人学. 杨静宇, 李德昌译.北京: 中国科学技术出版社, 1989
2 日本机器人学会编.机器人技术手册.宗光华译. 北京: 科学出版社, 19961 225~ 226

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Last Update: 2013-03-25