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Motion description language for trajectory generation of a robot manipulator
Liu ZM(刘钊铭)1,2; Liu NL(刘乃龙)1,2; Wei Q(魏青)1,2; Cui L(崔龙)1
作者部门机器人学研究室
会议名称2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
会议日期December 5-8, 2017
会议地点Macau, China
会议主办者Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
会议录名称2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版者IEEE
出版地New York
2017
页码1950-1955
收录类别EI
EI收录号20183005592144
产权排序1
ISBN号978-1-5386-3741-8
关键词MDL Robotics Trajectory Generation
摘要Trajectory generation is a fundamental problem of the robot manipulator. The traditional method for trajectory generation is to compute every sampling point and transmit them to joint in real time. The accuracy of trajectory depends on the time interval. If we want to improve accuracy, we should reduce time interval to get more samples. The more accurate the more data is needed. However, this method increases the bus loading of the system. In this paper, we propose a novel method for trajectory generation based on Motion Description Language (MDL). This method transmits continuous function to the joint instead of samples of position and velocity, which reduces the bus loading but does not affect the accuracy of trajectory.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22295
专题机器人学研究室
通讯作者Liu ZM(刘钊铭)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Liu ZM,Liu NL,Wei Q,et al. Motion description language for trajectory generation of a robot manipulator[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:1950-1955.
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