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Información general |
| Autor |
Perumaal, S. Saravana; Jawahar, N. |
| Publicado |
InTech Open Access Publisher, 2013
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| Edición |
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| Abstract |
Industrial robots, due to their great speed,
precision and cost‐effectiveness in repetitive tasks, now
tend to be used in place of human workers in automated
manufacturing systems. In particular, they perform the
pick‐and‐place operation, a non‐value‐added activity
which at the same time cannot be eliminated. Hence,
minimum time is an important consideration for economic
reasons in the trajectory planning system of the
manipulator. The trajectory should also be smooth to
handle parts precisely in applications such as
semiconductor manufacturing, processing and handling of
chemicals and medicines, and fluid and aerosol deposition.
In this paper, an automated trajectory planner is proposed
to determine a smooth, minimum‐time and collision‐free
trajectory for the pick‐and‐place operations of a 6‐DOF
robotic manipulator in the presence of an obstacle.
Subsequently, it also proposes an algorithm for the jerkbounded
Synchronized Trigonometric S‐curve Trajectory
(STST) and the ‘forbidden‐sphere’ technique to avoid the
obstacle. The proposed planner is demonstrated with
suitable examples and comparisons. The experiments show
that the proposed planner is capable of providing a
smoother trajectory than the cubic spline based trajectory. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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