Dynamic Trajectory Planning of 4-DOF Planar Direct Drive Robot

被引：0
|
作者：
Shen, Qi [1 ,2 ]
Liu, Jizhu [1 ,2 ]
Pei, Yongchao [1 ,2 ]
Wang, Yangjun [1 ,2 ]
Chen, Liguo [1 ,2 ]
机构：
[1] Soochow Univ, Sch Mech & Elect Engn, Jiangsu Prov Key Lab Adv Robot, Collaborat Innovat Ctr Suzhou Nano Sci & Technol, Suzhou 215000, Peoples R China
[2] Soochow Univ, Suzhou 21500, Peoples R China
来源：
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the requirement of high speed and high accuracy of robot in the field of IC, the current robots has elastic creep and cannot achieve high dynamic response,in this paper, a 4-DOF planar direct drive robot is studied, and a trajectory planning algorithm with the transition of trigonometric function is designed to solve the robot's current existing these problems. Finally, ADAMS is used to simulate the algorithm.Through the research of this paper, the dynamic response of robot is greatly improved.
引用
收藏
页码：1726 / 1730
页数：5
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