A new method of 6-DOF serial robot's trajectory planning under multi-constraints

doi:10.4028/www.scientific.net/AMM.602-605.1352

CORC > 重庆绿色智能技术研究院 > 中国科学院重庆绿色智能技术研究院 > 机器人与3D打印技术创新中心

	A new method of 6-DOF serial robot's trajectory planning under multi-constraints
	Zhao, Yong-Ting; Zheng, Bin; Ma, Hong-Lin
	2014
会议日期	May 30, 2014 - May 31, 2014
会议地点	Chongqing, China
DOI	10.4028/www.scientific.net/AMM.602-605.1352
页码	1352-1357
英文摘要	This paper proposes a new method of 6-DOF serial robot's trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot's trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning. © (2014) Trans Tech Publications, Switzerland.
会议录	2nd International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2014
语种	英语
电子版国际标准刊号	16627482
ISSN号	16609336
内容类型	会议论文
源URL	[http://119.78.100.138/handle/2HOD01W0/4709]
专题	机器人与3D打印技术创新中心
作者单位	Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing 400714, China
推荐引用方式 GB/T 7714	Zhao, Yong-Ting,Zheng, Bin,Ma, Hong-Lin. A new method of 6-DOF serial robot's trajectory planning under multi-constraints[C]. 见:. Chongqing, China. May 30, 2014 - May 31, 2014.