An approach for generating high velocity and high acceleration trajectories of industrial robots
作者： Yanjie Liu , Lining Sun , Zhenwei An
DOI: 10.1109/CIRA.2005.1554277
关键词:
摘要: For fast-motion industrial robots, the limits of velocity and acceleration vary over whole work-space. To make robots move with fully high along specified trajectory in entire workspace, a generation technique for is presented this paper. The maximum possible values are firstly investigated, consideration speed torque actuators. Then, based on these acceleration, proposed generates various motion profiles by using coefficients which determined deceleration characteristics. Finally, experiment conducted to confirm commanding two-degree-of-freedom (2-DOF) direct-drive planar parallel robot trajectories unsymmetrical smooth profile generated technique.
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