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International Journal of Control, Automation and Systems v.1 no.1, 2003년, pp.68 - 75   피인용횟수: 2

Trajectory Planning for Industrial Robot Manipulators Considering Assigned Velocity and Allowance Under Joint Acceleration Limit

Munasinghe, S.Rohan    (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University   ); Nakamura, Masatoshi   (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga UniversityUU0015120  ); Goto, Satoru   (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga UniversityUU0015120  ); Kyura, Nobuhiro   (Department of Electrical Engineering, Kinki UniversityUU0014968  );
  • 초록

    This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.


  • 주제어

    Industrial robot manipulator .   trajectory planning .   acceleration constraint .   assigned velocity .   trajectory allowance.  

  • 참고문헌 (15)

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    5. High speed precise control of robot arms with assigned speed under torque constraint by trajectory generation in joint coordinates , S. R. Munasinghe;M. Nakamura;S. Goto;S. Aoki;N. Kyura , IEEE Int. Conf. on Syst., Man and Syber.(SMC'99) / v.,pp.854-859(II2),
    6. Optimum contouring of industrial robot arms under assigned velocity and torque constraints , S. R. Munasinghe;M. Nakamura;S. Goto;N. Kyura , IEEE Trans. on Syst., Man, and Cyber. / v.31,pp.159-167,
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    14. Pole selection for modified taught data method for mechatronic servo systems by considering bounded control input , S. R. Munasinghe;M. Nakamura;S. Goto;N. Kyura , Proc. Annual Conf. of the Soc. of Inst. and Cntlr. Engineers (SICE), Kyushu Branch / v.,pp.183-186,
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  • 이 논문을 인용한 문헌 (2)

    1. 2015. "" International journal of precision engineering and manufacturing, 16(5): 911~917   
    2. Luo, Lu-Ping ; Hwang, Soon-Woong ; Han, Chang-Soo 2015. "Trajectory Planning for Torque Minimization of Robot Manipulators Using the Lagrange Interpolation Method" 한국산학기술학회논문지 = Journal of the Korea Academia-Industrial cooperation Society, 16(4): 2370~2378     

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