Volume 24 Issue 3
May  2002
Turn off MathJax
Article Contents
Abstract
References
REN Jing-yi, SUN Han-xu. A NOVEL METHOD OF TRAJECTORY PLANNING IN CARTESIAN SPACE[J]. ROBOT, 2002, 24(3): 217-221.
Citation: REN Jing-yi, SUN Han-xu. A NOVEL METHOD OF TRAJECTORY PLANNING IN CARTESIAN SPACE[J]. ROBOT, 2002, 24(3): 217-221.
shu

A NOVEL METHOD OF TRAJECTORY PLANNING IN CARTESIAN SPACE

  • 1.

    Candidate of Ph·D. Beijing University of Aeronautics and Astronautics

  • 2.

    Professor, Beijing University of Posts and Telecommunications, Dept. of Mechanical & Electronics Engineering

More Information
  • Received Date: June 13, 2001
  • Published Date: May 14, 2002
    Graphical Abstract
    • Abstract
  • Combined the screw theory with the principle of a spline curve generation validly, a concept of virtual joints is proposed in this paper. Based on this concept, a novel method of trajectory planning in cartesian space is presented. This method is simple as well as intuitive by virtue of synthesizing the advantages of both the path planning in joint space and that in cartesian space. In addition, through this method a spatial trajectory is obtained easily, which will-go through all the control points and be content with the boundary conditions as well. In order to verify it, an experiment on a 9DOF modular robot platform and corresponding results are given at last.
    • FullText(HTML)
    • References (7)
  • [1]
    熊有伦,丁汉等.机器人学.机械工业出版社,1992
    [2]
    Samuel P Marin. Optimal parametrization of curves for robot trajectory design. IEEE Transactions on automatic control, 1988,33(2):209-215
    [3]
    R Murray, Z Li, S s Sastry. A mathematical introduction to robotic manipulation. CRC Press, Boca Raton, FL, 1994
    [4]
    Engelbert W, Rolf D S, etc. Task-oriented programming of large redundant robot motion. Robotics and Computer-Integrated Manufacturing, 1998(14):363-375
    [5]
    Qiyi G Zhang, R Bryan Greenway. Development and implementation of a NURBS curve motion interpolator. Robotics and Computer-Integrated Manufacturing, 1998(14):27-36
    [6]
    B Cao, G L Dodds, G W Irwin. Constrained time-efficient and smooth cubic spline trajectory generation for industrial robots. IEE Proc. -Control Theory Appl, 1997,144(5):467-476
    [7]
    Chi-haur Wu, Chi-cheng Jou, Design of a controlled spatial curve trajectory for robot manipulators. Proceedings of the 27th Conference on Decision and Control, 1988. 161-167
    • Related Articles

Catalog

    Get Citation
    PDF
    XML
    Article views (58) PDF downloads (1848) Cited by()
    Related
    Links： More+

    Copyright © Shenyang Institute of Automation, Chinese Academy of Sciences

    Address: 135 Chuangxin Road, Shenyang, China (110169)

    Tel: 86-024-23970050,86-024-23970088

    E-mail: jqr@sia.cn

    Email Alert

    Supported by: Beijing Renhe Information Technology Co., Ltd.  Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return