Research and Simulation of Robot Trajectory Planning in Joint Space

Xiao Ping Hu; Fu Yong Zuo

doi:10.4028/www.scientific.net/AMM.103.372

Paper Titles

The Design of Test System for Comprehensive Performance of Clutch Booster
p.348

Design of a Self-Tunning Temperature Controller for a Coal Sample Burning Point Detecting Instrument
p.354

Problems about the Evaluating System of the Pixel Luminance Uniformity of LED Display Using a Digital Camera
p.361

Uncertainty Evaluation Study of CMM Dynamic Measurement Based on Quasi Monte Carlo Method
p.366

Research and Simulation of Robot Trajectory Planning in Joint Space
p.372

Error Analysis of the Illuminance Meter Verification System
p.378

Analysis of the Measurability Requirement for Weaponry
p.383

Permanent Magnet Linear Synchronous Motor Servo System Based on DSP
p.388

Development of General Embedded Intelligent Monitoring System for Tower Crane
p.394

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 103Research and Simulation of Robot Trajectory...

Research and Simulation of Robot Trajectory Planning in Joint Space

Abstract:

Studying methods of robot trajectory planning which based on polynomial and trapezoidal velocity profile in joint space. The trajectory of one joint robot and joints robot is simulated by MATLAB. The simulation results shows that it satisfies restraint conditions of robot position velocity and acceleration in motion, it guaranteed smooth and continuity.

You might also be interested in these eBooks

Advances in Precision Instrumentation and Measurement

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 103)

Pages:

372-377

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.103.372

Citation:

Cite this paper

Online since:

September 2011

Authors:

Xiao Ping Hu, Fu Yong Zuo

Keywords:

MATLAB, Polynomial, Robot, Simulation, Trajectory Planning

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Zhang tao . Introduction to Robotics[M]. China machine press. 2010, 5.

Google Scholar

[2] Chen dan. The optimal B-spline based on Genetic Algorithm and its use in the robot trajectory planning[D]. Wu han: Wu han University of Science and Technology. (2007).

Google Scholar

[3] Tan guanzhen. Wang yuechao. Theortical and experimental research on time-optimal trajectory planning and control of industrial robots[J]. Control Theory & Applications. 2003, 20(2): 185-192.

Google Scholar

[4] Wang yonglong, Zhang zhaozhong, Zhang guihong . Language foundation and application of MATLAB[M]. Publish house of electronics industry. 2010, 10.

Google Scholar

[5] P. Corke. A Robotics Toolbox for MATLAB[J]. IEEE Robotics and Automation Magazine. 1996, 3(1): 24-32.

DOI: 10.1109/100.486658

Google Scholar

[6] Xie bin, Cai zixing. The research of robotics simulation based on MATLAB Robotics Toolbo[J]. Computer Education. 2010, 19(10): 140-143.

Google Scholar

[7] Bobrow JE, Dubowsky S, Gibson JS. Time-optimal control of robotic manipulators along special paths[J]. International Journal of Robotics Research, 1985, (4)3: 3-17.

DOI: 10.1177/027836498500400301

Google Scholar