Application and Research of Rotate-Lookup-Summation in Robot Motion
How to exercise reasonable motion control on robot becomes a new research focus in robot technology research. This paper proposes the Rotate-Lookup-Summation according to the deficiency of traditional look-up table. This method first confirm the controlling factors P1，P2….Pn that would affect the control volume Z, and then the multi-dimensional control volumes and multi-dimensional control factors would be projected to sub-dimensional space. Finally, the same controlling factors of different sub-dimensional space would be rotated to a single sub-dimensional space and establish a corresponding table. According to the single sub-dimensional space value of the controlling factors, the corresponding control variable could be found in table and eventually complete the control process. Experiments show that the method could ensure the integrity and accuracy of table, reduce the table memory capacitance and lookup time, so as to realize the control of look-up table in micro-device.
H. B. Shi and W. J. Dong, "Application and Research of Rotate-Lookup-Summation in Robot Motion", Key Engineering Materials, Vols. 467-469, pp. 186-191, 2011