Automatic generation of trajectory planners for industrial robots
作者： Kang Shin , N. McKay
DOI: 10.1109/ROBOT.1986.1087635
关键词:
摘要: The control of industrial robots is usually divided into several sequential stages. Trajectory planning an important off-line stage which concerned with the generation a time history robot's joint position, velocity, acceleration, and input torques. A number trajectory methods have been developed [1], [4]-[6], [10], [11], [13], entail complex computations algebraic manipulations. Programming this sort planners very error-prone, thereby limiting their applicability. To remove limitation, we begun development software for automating planning, called Automatic Planner Generator (ATPG). This paper describes components ATPG: three planners, data structures describing geometric paths, dynamic equations constraint functions, ancillary software. large portion ATPG has completed, remaining currently under development.
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