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题名: General motion planning method for manipulators with no impact
作者: Chen P(陈鹏) ; Zhang F(张峰) ; Cui L(崔龙) ; Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议日期: December 12-14, 2013
会议地点: Shenzhen, China
会议录: 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2013
页码: 2303-2308
收录类别: EI
ISBN号: 978-1-4799-2744-9
关键词: Biomimetics ; Interpolation ; Motion planning ; Robotics
摘要: This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator's end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects. © 2013 IEEE.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/14770
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
陈鹏; 张峰; 崔龙; 李洪谊.General motion planning method for manipulators with no impact.见:IEEE.2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013,New York,2013,2303-2308
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文件名: General motion planning method for manipulators with no impact.pdf
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