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Time optimal trajectory planning and control of substrate handling robot
Song JL(宋吉来); Xu F(徐方); Zou FS(邹风山)
Department其他
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages2432-2436
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977747
WOS IDWOS:000393066202077
Contribution Rank1
ISBN978-1-4799-5825-2
KeywordSubstrate Handling Robot Parameter Identification Robot Control Time Optimal Trajectory Planning
AbstractIn this paper, we analyse the structure characteristics, and calculate the forward and inverse kinematics of substrate handling robot. Dynamics control of the robot is divided into horizontal and vertical directions axes, and friction and kinetic parameters are identified. Finally, we use the time optimal trajectory planning algorithm to give the curve, and Matlab robot toolbox is used in the experiment. By comparing the whole dynamics torque and the motor torque, the results prove the validity of the algorithm.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16926
Collection其他
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Central Research Institute, SIASUN Robot and Automation Co, Ltd, Shenyang, Liaoning, China
Recommended Citation
GB/T 7714
Song JL,Xu F,Zou FS. Time optimal trajectory planning and control of substrate handling robot[C]. Piscataway, NJ, USA:IEEE,2014:2432-2436.
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