DocumentCode
2616497
Title
Analysis of Motion Control with Trajectory Planning for HP20 Manipulator
Author
Junfeng, Shan ; Shangxing, Zhang ; Xuejun, Zhu
Author_Institution
Sch. of Mech. Eng., Ningxia Univ., Yinchuan, China
Volume
1
fYear
2011
fDate
6-7 Jan. 2011
Firstpage
471
Lastpage
473
Abstract
As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country´s manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set up the link coordinate with D-H theory. Meanwhile, it put forward a trajectory planning of the movement with specific motion control method.
Keywords
manipulator kinematics; motion control; path planning; position control; D-H theory; MOTOMAN-HP20 manipulator; motion control analysis; robot kinematics analysis; trajectory planning; Joints; Manipulators; Planning; Robot kinematics; Service robots; Trajectory; Kinematics; MOTOMAN-HP20; Motion control; Trajectory planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location
Shangshai
Print_ISBN
978-1-4244-9010-3
Type
conf
DOI
10.1109/ICMTMA.2011.119
Filename
5720822
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