Time Optimal Trajectory Planning and Control of Substrate Handling Robot

被引：0
作者：
Song, Jilai [1 ,2 ,3 ]
Xu, Fang [1 ,2 ,3 ]
Zou, Fengshan [4 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China
[2] Univ Chinese Acad Sci, Beijing 110049, Peoples R China
[3] SIASUN Robot & Automat Co Ltd, Shenyang 110068, Liaoning, Peoples R China
[4] SIASUN Robot & Automat Co Ltd, Cent Res Inst, Shenyang 110168, Liaoning, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
Substrate Handling Robot; Parameter Identification; Robot Control; Time Optimal Trajectory Planning;
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：
In this paper, we analyse the structure characteristics, and calculate the forward and inverse kinematics of substrate handling robot. Dynamics control of the robot is divided into horizontal and vertical directions axes, and friction and kinetic parameters are identified. Finally, we use the time optimal trajectory planning algorithm to give the curve, and Matlab robot toolbox is used in the experiment. By comparing the whole dynamics torque and the motor torque, the results prove the validity of the algorithm.
引用
收藏
页码：2432 / 2436
页数：5
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