DocumentCode :
2351191
Title :
Smooth Trajectory Tracking Interpolation on a Robot Simulator
Author :
Pacheco, Rafael Renan ; Hounsell, Marcelo S. ; Rosso, Roberto S U ; Leal, André B.
Author_Institution :
Lab. for Res. on Visual Applic., Santa Catarina State Univ., Joinville, Brazil
fYear :
2010
fDate :
23-28 Oct. 2010
Firstpage :
13
Lastpage :
18
Abstract :
When there is the need of a robotic manipulator to follow a certain smooth and continuous trajectory, it involves the specification of the curve to be followed and the way the gripper should behave alongside it. This work aims to identify and analyze a technique to be used in a 3D virtual robotic simulator that executes smooth and continuous movements. It also aims to develop a method for trajectory programming using a solution that covers the main problems of trajectory tracking (smoothness of path and gripper approach). An efficient and flexible method to embed trajectory tracking was indentified and implemented which allows its integration with existing standard (linear or circular) movements.
Keywords :
interpolation; manipulators; position control; 3D virtual robotic simulator; continuous trajectory; gripper; robot simulator; robotic manipulator; smooth trajectory tracking interpolation; trajectory programming; Robot manipulator; simulator; smooth curves; trajectory tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics Symposium and Intelligent Robotic Meeting (LARS), 2010 Latin American
Conference_Location :
Sao Bernardo do Campo
Print_ISBN :
978-1-4244-8639-7
Type :
conf
DOI :
10.1109/LARS.2010.31
Filename :
5702174
Link To Document :
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