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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)
Department机器人学研究室
Conference Name2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Conference DateDecember 12-14, 2013
Conference PlaceShenzhen, China
Source Publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
PublisherIEEE
Publication PlaceNew York
2013
Pages2303-2308
Indexed ByEI ; CPCI(ISTP)
EI Accession number20141717633057
WOS IDWOS:000352739000382
Contribution Rank1
ISBN978-1-4799-2744-9
KeywordBiomimetics Interpolation Motion Planning Robotics
AbstractThis 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/14770
Collection机器人学研究室
Corresponding AuthorChen P(陈鹏)
Affiliation1.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
Recommended Citation
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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