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General motion planning method for manipulators with no impact
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
会议录名称2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
出版者IEEE
出版地New York
2013
页码2303-2308
收录类别EI ; CPCI(ISTP)
EI收录号20141717633057
WOS记录号WOS:000352739000382
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14770
专题机器人学研究室
通讯作者Chen P(陈鹏)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Chen P,Zhang F,Cui L,et al. General motion planning method for manipulators with no impact[C]. New York:IEEE,2013:2303-2308.
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