Theoretical and simulation research on real-time path tracking strategy for industrial robots

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

	Theoretical and simulation research on real-time path tracking strategy for industrial robots
	Tan GZ(谭冠政); Hu SY(胡生员); Wang YC(王越超)
	2002
会议名称	4th World Congress on Intelligent Control and Automation
会议日期	June 10-14, 2002
会议地点	Shanghai, China
关键词	Computer simulation Degrees of freedom (mechanics) End effectors Motion control Motion planning Online systems Polynomials Real time systems Robotics
页码	1138-1142
中文摘要	Previously, researchers raised the accuracy of a robot's hand tracking a specified path in Cartesian space mainly through increasing the number of the path's segments. But, this method resulted in the heavier online computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time and accurate hand path tracking method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of a robot's hand, and does not change the number of the path's segments and the sum of joint displacement equations. It also does not increase markedly the computational burden of the robot controller. The result of computer simulation shows this method is very effective. It has greater value to raising the application level of industrial robots.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat
会议录	PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	0-7803-7268-9
WOS记录号	WOS:000179017500243
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/9217]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Tan GZ,Hu SY,Wang YC. Theoretical and simulation research on real-time path tracking strategy for industrial robots[C]. 见:4th World Congress on Intelligent Control and Automation. Shanghai, China. June 10-14, 2002.