Research on the trajectory planning of the 4-DOF manipulator

被引：0
|
作者：
Cui, Yujie [1 ]
机构：
[1] Northeastern Univ, Dept Automat Engn, Qinhuangdao 066004, Peoples R China
来源：
EQUIPMENT MANUFACTURING TECHNOLOGY AND AUTOMATION, PTS 1-3 | 2011年 / 317-319卷
关键词：
Manipulator; trajectory planning; algorithm; kinematics analysis;
D O I：
10.4028/www.scientific.net/AMR.317-319.734
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on kinematics analysis, trajectory planning of a 4-DOF manipulator is researched on in this paper. Quintic polynomials is adopted to plan trajectory. The trajectory simulation of the manipulator is realized through using SimMechanics toolbox in MATLAB. The simulation experiments show the correctness and feasibility of the kinematics equations and algorithm of the manipulator trajectory planning.
引用
收藏
页码：734 / 737
页数：4
相关论文
共 50 条
  • [1] Minimum-time trajectory planning for a 4-dof manipulator considering motion stability and obstacle avoidance
    Pei, Yanhu
    Liu, Zhifeng
    Xu, Jingjing
    Yang, Congbin
    2020 5TH INTERNATIONAL CONFERENCE ON MECHANICAL, CONTROL AND COMPUTER ENGINEERING (ICMCCE 2020), 2020, : 203 - 207
  • [2] Calibration of a 4-dof parallel manipulator
    Liu, Hongjun
    Liu, Bin
    Sun, Cuilian
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 7958 - +
  • [3] Kinematics Simulation of 4-DOF Manipulator
    Bao, Guangbing
    Liu, Shizhao
    Zhao, Hong
    PROCEEDINGS OF THE 2017 2ND INTERNATIONAL CONFERENCE ON MATERIALS SCIENCE, MACHINERY AND ENERGY ENGINEERING (MSMEE 2017), 2017, 123 : 400 - 408
  • [4] Dynamic Trajectory Planning of 4-DOF Planar Direct Drive Robot
    Shen, Qi
    Liu, Jizhu
    Pei, Yongchao
    Wang, Yangjun
    Chen, Liguo
    2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2018, : 1726 - 1730
  • [5] Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator
    Zhao, Jie
    Yang, Guilin
    Shi, Haoyu
    Chen, Silu
    Chen, Chin-Yin
    Zhang, Chi
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, 8 (08) : 5039 - 5046
  • [6] Incomplete gravity compensator for a 4-DOF manipulator
    Kim, Sang-Hyung
    Cho, Chang-Hyun
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2015, 29 (10) : 4417 - 4426
  • [7] Incomplete gravity compensator for a 4-DOF manipulator
    Sang-Hyung Kim
    Chang-Hyun Cho
    Journal of Mechanical Science and Technology, 2015, 29 : 4417 - 4426
  • [8] Kinematics Analysis and Simulation of a 4-DOF Manipulator
    Cui, Yujie
    Hua, Jianning
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 656 - 660
  • [9] Design of a 4-DOF Manipulator for GIS Detection
    Zhu, Shengshan
    Chang, Yong
    Qin, Jiwei
    Su, Shuangyan
    2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2017, : 442 - 448
  • [10] Kinematics Modeling and Simulation of a 4-DOF Manipulator
    Luan, Yiqing
    Xu, Wei
    Li, Jianxiang
    Zhou, Dazhou
    Wang, Haipeng
    Ji, Hongwei
    2017 INTERNATIONAL CONFERENCE ON COMPUTER SYSTEMS, ELECTRONICS AND CONTROL (ICCSEC), 2017, : 302 - 305
12345