REAL-TIME TRAJECTORY GENERATION FOR SENSOR-GUIDED ROBOTIC LASER WELDING
作者： Menno de Graaf , Ronald Aarts , Ben Jonker , Johan Meijer
DOI: 10.3182/20060906-3-IT-2910.00065
关键词:
摘要: Abstract This paper presents a trajectory generator, which generates smooth robot in real-time. The generator is based on cubic interpolation, where Cartesian locations (position and orientation) can be added on-the-fly during the motion. way sensor information obtained motion used to generate trajectory. A general control architecture called trajectory-based presented combination with this generator. Experiments have been carried out show capabilities of provide for joint controller.
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