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Path-constrained time-optimal robot control
Xie DM(谢冬梅); Qu DK(曲道奎); Xu F(徐方)
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
Conference DateDecember 17-20, 2006
Conference PlaceKunming, China
Author of SourceIEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
Source Publication2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
Publication PlaceNEW YORK
Indexed ByEI ; CPCI(ISTP)
EI Accession number20082811359777
WOS IDWOS:000245907301092
Contribution Rank1
KeywordTime-optimal Control Velocity Limit Curve Switching Trajectory Regulation
AbstractFast movement along a predefined path is important for many robot applications, especially in cluster tool robots, requires utilization of the maximum allowable torque range. Robot running along the time-optimal path brings many benefits such as higher productivity. In this paper, moving a delicate object from an initial point to a specified location along a predefined path within the minimum time under a damage-free condition is studied, To achieve this goal, the dynamics of robot is first described as the formulation using arc differential of the predefined path in Cartesian coordinates. Then, the range of acceleration is deducted from the torque limitations, and the method of computing the maximum and minimum acceleration is given. This range can be modified by consideration of the geometrical constraints. Considering the torque constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. After that, a method to solve the time-optimal problem is presented, and the detailed process is explained. In this way time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This algorithm is implemented on a 2-arm, 2-dof cluster tool robot and its validity is proven by simulation result.
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Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Corresponding AuthorXie DM(谢冬梅)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Graduate School, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xie DM,Qu DK,Xu F. Path-constrained time-optimal robot control[C]//IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ. NEW YORK:IEEE,2006:1095-1100.
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