Motion description language for trajectory generation of a robot manipulator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Motion description language for trajectory generation of a robot manipulator
	Liu ZM(刘钊铭)1,2; Wei Q(魏青)1,2; Cui L(崔龙)1; Liu NL(刘乃龙)1,2; Liu ZH(刘志华)
	2017
会议名称	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
会议日期	December 5-8, 2017
会议地点	Macau, China
关键词	MDL Robotics Trajectory Generation
页码	1950-1955
通讯作者	Liu ZM(刘钊铭)
中文摘要	Trajectory generation is a fundamental problem of the robot manipulator. The traditional method for trajectory generation is to compute every sampling point and transmit them to joint in real time. The accuracy of trajectory depends on the time interval. If we want to improve accuracy, we should reduce time interval to get more samples. The more accurate the more data is needed. However, this method increases the bus loading of the system. In this paper, we propose a novel method for trajectory generation based on Motion Description Language (MDL). This method transmits continuous function to the joint instead of samples of position and velocity, which reduces the bus loading but does not affect the accuracy of trajectory.
收录类别	EI
产权排序	1
会议主办者	Beijing Institute of Technology; City University of Hong Kong; IEEE Robotics and Automation Society; Shenzhen Academy of Robotics; University of Hong Kong; University of Macau
会议录	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-3741-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/22353]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Liu ZM,Wei Q,Cui L,et al. Motion description language for trajectory generation of a robot manipulator[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Macau, China. December 5-8, 2017.