Research on Continuous Trajectory Planning for Ultrasonic Manipulator

Hui Feng Zheng; Sang Sang Yu; Yue Bing Wang; Ting Hao Tang

doi:10.4028/www.scientific.net/AMM.610.544

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 610Research on Continuous Trajectory Planning for...

Research on Continuous Trajectory Planning for Ultrasonic Manipulator

Abstract:

For the large number of sampling points and high requirement of stabilization in ultrasonic testing,the dynamic performance of 5-dof manipulator was taken into consider: Firstly, the D-H notation and Newton-Euler were applied to set up the kinematic and dynamic equation for trajectory planning. Then the 4-3-4 polynomial which is continuous in displacement, velocity and acceleration, was used for continuous trajectory planning in joints space. Finally the trajectory based on time optimization with the constraint of velocity and acceleration including torque of actuator was validated.

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Periodical:

Applied Mechanics and Materials (Volume 610)

Pages:

544-548

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.610.544

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Online since:

August 2014

Authors:

Hui Feng Zheng*, Sang Sang Yu, Yue Bing Wang, Ting Hao Tang

Keywords:

Dynamic, Kinematics, Time Optimization, Trajectory Control, Ultrasonic Testing

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* - Corresponding Author

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