The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality

Hui Ying Dong; Qi Hua Sun; Xue Lu; Zhang Ming Liu

doi:10.4028/www.scientific.net/AMM.204-208.4729

Paper Titles

Nonlinear Dynamic Response of Piezoelectric Cylindrical Shell with Delamination under Hygrothermal Conditions
p.4698

The Influence of Chord Yield-to-Tensile Stress Ratio on the Static Strength of Unstiffened CHS K-Gap Joints under Static Axial Loading
p.4702

Nonlinear Forced Vibration Analysis for Thin Rectangular Plate on Nonlinear Elastic Foundation
p.4716

FEM Research on Deepwater Risers Installation
p.4722

The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality
p.4729

A Tapering Method in the Construction of Covariance Regularization
p.4734

A CFD Simulation of Strouhal Number for U-Shaped Section Aqueducts
p.4738

Parameters Identification of Dual-Rate Hammerstein Systems Based on Finite Input Response Models
p.4742

Analysis of Image Texture Features Based on Gray Level Co-Occurrence Matrix
p.4746

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 204-208The Trajectory Planning of Robotic Operation...

The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality

Abstract:

At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.

You might also be interested in these eBooks

Progress in Industrial and Civil Engineering

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 204-208)

Pages:

4729-4733

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.204-208.4729

Citation:

Cite this paper

Online since:

October 2012

Authors:

Hui Ying Dong, Qi Hua Sun, Xue Lu, Zhang Ming Liu

Keywords:

B-Spine, Trajectory Planning, Virtual Reality (VR)

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Ferund E, Rossmann J.Projective virtual reality: bridging the gap between virtual reality and robotics.IEEE Transactios on Robotics and Automation，1999，15(3):411-422.

DOI: 10.1109/70.768175

Google Scholar

[2] Donghai Qian，Wei Tan，Xifang Zhao. The time optimal trajectory planning of robot Based on B-spline path. Journal of Shanghai Jiaotong university. 1995，32(12):29-33.

Google Scholar

[3] Jianhai Han, Ping Yang. industrial robot[M]. Wuhan: Huazhong University of Science and Technology Press, 2009,152.

Google Scholar

[4] Bin Ding, Jiakui Zu. The 3D visual simulation of UAV based on Virtual Reality. Computer Measurement and Control. 2007，15(12): 1769-1771.

Google Scholar

[5] Van Strijp C.J. Langen H.H. Onosato,M.The Application of a Haptic Interface on Microassembly[C],Haptic Interfaces for Virtual Environment and Teleoperator Systems,2006 14th Symposium on.2006:289-293P.

DOI: 10.1109/haptic.2006.1627129

Google Scholar

[6] Lin,Bin,Dinda,Peter A.Towards Scheduling Virtual Machines Based On Direct User Input[C]，Virtualization Technology in Distributed Computeing 2006.VTDC 2006,First International Workshop on.2006:6P.

DOI: 10.1109/vtdc.2006.15

Google Scholar

[7] Curry H.B. and Sehoenberg L.J.On Spline Distributions and Their Limits: The Poly Distribution Functions，Abstraet330t，Bull.Ameriean Mathematieal Soe.Vol

Google Scholar

[8] Jibin Zhao, Weijun Liu, Yuwen Sun. a Rapid direct extraction method of a free surface point cloud boundary [J]. Chinese Journal of Scientific Instrument. 2007，7（7）.

Google Scholar

[9] Dianzhu Sun, Zhixian Fan, Yanrui Li. A automatically boundary feature extraction algorithm of Scattered cloud points[J]. Journal of Huazhong University of Science and Technology (natural science). 2008,8(8).

Google Scholar