TY - GEN
T1 - Lift-down trajectory generation for multi-joint robot based on repeatedly direct kinematics algorithm
AU - Zhang, Qin
AU - Wu, Zhibin
AU - Kamiya, Yoshitsugu
AU - Wang, Bo
PY - 2010
Y1 - 2010
N2 - This paper proposes repeatedly direct kinematics (RDK) algorithm to trajectory generation of a multi-joint robot in lift-down movements. For trajectory generation of the multi-joint robot, three constraints are considered. They are no turnover, the joint limits and the torque limits of the robot. Safety factor is set in order to ensure the stability of robot. The emphasis of the study is placed on using repeatedly direct kinematics (RDK) algorithm to search for trajectory. The method is evaluating each joint torque rate and then updating robot posture. Simulation results of various lift-down movements are satisfactory.
AB - This paper proposes repeatedly direct kinematics (RDK) algorithm to trajectory generation of a multi-joint robot in lift-down movements. For trajectory generation of the multi-joint robot, three constraints are considered. They are no turnover, the joint limits and the torque limits of the robot. Safety factor is set in order to ensure the stability of robot. The emphasis of the study is placed on using repeatedly direct kinematics (RDK) algorithm to search for trajectory. The method is evaluating each joint torque rate and then updating robot posture. Simulation results of various lift-down movements are satisfactory.
UR - http://www.scopus.com/inward/record.url?scp=78649286638&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2010.5588649
DO - 10.1109/ICMA.2010.5588649
M3 - Conference contribution
AN - SCOPUS:78649286638
SN - 9781424451418
T3 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
SP - 65
EP - 70
BT - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
T2 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
Y2 - 4 August 2010 through 7 August 2010
ER -