Optimized joint motion planning for redundant industrial robots
نویسندگان
چکیده
منابع مشابه
On Achieving Periodic Joint Motion for Redundant Robots
The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working surface, is realized through the computation of joint velocities in the configuration space. Depending on the manner in which the joint velo...
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∗ Institute for Process Control and Robotics (IPR), o. Prof. Dr.-Ing. H. Wörn, University of Karlsruhe, Department of Computer Science, P.O. Box 69 80, D-76128 Karlsruhe, Germany, E-Mail: [woern, wurll, dHenrich]@ira.uka.de Abstract This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is p...
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ژورنال
عنوان ژورنال: CIRP Annals
سال: 2016
ISSN: 0007-8506
DOI: 10.1016/j.cirp.2016.04.024