Trajectory planning for coordinated motion of a robot and a positioning table. I. Path specification

路径(计算) 运动规划 表(数据库) 计算机科学 工作区 机器人 运动(物理) 弹道 计算机视觉 人工智能 算法 物理 数据挖掘 天文 程序设计语言
作者
Musa Jouaneh,Z. Wang,D. Dornfeld
出处
期刊:IEEE Transactions on Robotics and Automation [Institute of Electrical and Electronics Engineers]
卷期号:6 (6): 735-745 被引量:59
标识
DOI:10.1109/70.63274
摘要

Coordinating the tool (robot) and workpiece (positioning table) motion in continuous manufacturing processes such as sealing, welding, and laser cutting offers several advantages over the motion of only the tool or workpiece. Better utilization of the speed and workspace characteristics of the two devices and improvement in tracking accuracy at sharp corners in the path are some of the merits of this approach. In coordinated motion, the two devices are simultaneously moved to track a given path, and two strategies are developed for coordinating their motion, where each is dependent on the given path information. The first strategy is applicable to any type of path and resolves the motion by splitting the displacement between any two points on the path into segments moved by the robot and the table. The robot and the table move in opposite directions in this strategy. The second strategy is applicable to sharp cornered paths and resolves the given path into two smooth paths. The first path is a double clothoid curve, whereas the second path is a tangential straight line path. The table executes a local motion around the corner in this strategy, whereas the robot is moved at all times. The uniqueness of this strategy in constructing the original corner path is proved. The proposed strategies are shown to be applicable to other coordinated motion systems.< >
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
葳葳完成签到,获得积分10
1秒前
sl发布了新的文献求助10
4秒前
4秒前
sanqian911完成签到,获得积分10
5秒前
昏睡的蟠桃应助liars采纳,获得150
6秒前
斯文败类应助荒野风采纳,获得10
6秒前
6秒前
hrzmlily完成签到,获得积分10
8秒前
顽主完成签到,获得积分10
9秒前
义气访曼完成签到 ,获得积分10
10秒前
时尚战斗机完成签到,获得积分10
10秒前
12秒前
亦玉完成签到,获得积分10
12秒前
Philadelphus完成签到,获得积分20
14秒前
14秒前
wsh完成签到 ,获得积分10
15秒前
luyue9406完成签到,获得积分10
15秒前
luochen完成签到,获得积分10
15秒前
酷波er应助奶黄包采纳,获得10
16秒前
ROMANTIC完成签到 ,获得积分10
16秒前
Hancock完成签到 ,获得积分10
17秒前
luyue9406发布了新的文献求助10
18秒前
Akim应助小王采纳,获得10
18秒前
甜蜜的楷瑞应助zqfxc采纳,获得10
20秒前
Hello应助花雨落123采纳,获得10
22秒前
23秒前
24秒前
柚仝完成签到 ,获得积分10
24秒前
贾明灵完成签到,获得积分10
24秒前
未来学术司马懿应助LIUYONG采纳,获得10
25秒前
Dops完成签到,获得积分10
27秒前
票子发布了新的文献求助10
28秒前
晚风完成签到 ,获得积分10
28秒前
坚强莺发布了新的文献求助10
28秒前
无奈曼云完成签到,获得积分10
29秒前
不会吹口哨完成签到,获得积分10
29秒前
易槐完成签到,获得积分10
30秒前
情怀应助和谐的梦蕊采纳,获得10
30秒前
31秒前
喜悦的飞机完成签到,获得积分10
32秒前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
Research on Disturbance Rejection Control Algorithm for Aerial Operation Robots 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4038426
求助须知:如何正确求助?哪些是违规求助? 3576119
关于积分的说明 11374556
捐赠科研通 3305834
什么是DOI,文献DOI怎么找? 1819339
邀请新用户注册赠送积分活动 892678
科研通“疑难数据库(出版商)”最低求助积分说明 815029