Motion Description Language for Trajectory Generation of a Robot Manipulator

被引：0

作者：

Liu Zhaoming ^{[1
,2
]}

Liu Nailong ^{[1
,2
]}

Wei Qing ^{[1
,2
]}

Cui Long ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China

[2] Univ Chinese Acad Sci, Beijing, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年

关键词：

MDL; Robotics; Trajectory Generation;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Trajectory generation is a fundamental problem of the robot manipulator. The traditional method for trajectory generation is to compute every sampling point and transmit them to joint in real time. The accuracy of trajectory depends on the time interval. If we want to improve accuracy, we should reduce time interval to get more samples. The more accurate the more data is needed. However, this method increases the bus loading of the system. In this paper, we propose a novel method for trajectory generation based on Motion Description Language (MDL). This method transmits continuous function to the joint instead of samples of position and velocity, which reduces the bus loading but does not affect the accuracy of trajectory.

引用

页码：1950 / 1955

页数：6