Joint Space Point-to-point Motion Planning for Robots. an Industrial Implementation
نویسندگان
چکیده
A path-following algorithm for industrial robots is presented in this paper. The algorithm generates off-line a joint space point-to-point trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators’ torque limits while preserving the geometric path. Due to the software characteristic of the specific industrial architecture, the trajectories adopt a trapezoidal velocity profile. The algorithm has been designed, implemented and extensively tested on a Comau SMART H4 robot, a closedchain six-degree-of-freedom industrial manipulator. Copyright c ©2005 IFAC
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تاریخ انتشار 2005