Motion description language for trajectory generation of a robot manipulator | |
Liu ZM(刘钊铭)1,2; Wei Q(魏青)1,2; Cui L(崔龙)1; Liu NL(刘乃龙)1,2; Liu ZH(刘志华) | |
2017 | |
会议名称 | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
会议日期 | December 5-8, 2017 |
会议地点 | Macau, China |
关键词 | MDL Robotics Trajectory Generation |
页码 | 1950-1955 |
通讯作者 | Liu ZM(刘钊铭) |
中文摘要 | Trajectory generation is a fundamental problem of the robot manipulator. The traditional method for trajectory generation is to compute every sampling point and transmit them to joint in real time. The accuracy of trajectory depends on the time interval. If we want to improve accuracy, we should reduce time interval to get more samples. The more accurate the more data is needed. However, this method increases the bus loading of the system. In this paper, we propose a novel method for trajectory generation based on Motion Description Language (MDL). This method transmits continuous function to the joint instead of samples of position and velocity, which reduces the bus loading but does not affect the accuracy of trajectory. |
收录类别 | EI |
产权排序 | 1 |
会议主办者 | Beijing Institute of Technology; City University of Hong Kong; IEEE Robotics and Automation Society; Shenzhen Academy of Robotics; University of Hong Kong; University of Macau |
会议录 | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
会议录出版者 | IEEE |
会议录出版地 | New York |
语种 | 英语 |
ISBN号 | 978-1-5386-3741-8 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/22353] |
专题 | 沈阳自动化研究所_机器人学研究室 |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
推荐引用方式 GB/T 7714 | Liu ZM,Wei Q,Cui L,et al. Motion description language for trajectory generation of a robot manipulator[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Macau, China. December 5-8, 2017. |
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