Generation of Linear Cartesian Trajectories for Robots Using Industrial Motion-Controllers

被引：0

作者：

Zielinski, Cezary ^{[1
]}

Kornuta, Tomasz ^{[1
]}

机构：

[1] Warsaw Univ Technol, Inst Control & Computat Engn, PL-00665 Warsaw, Poland

来源：

2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS | 2011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：

The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.

引用

页码：62 / 67

页数：6

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