DocumentCode
2858432
Title
LSPB Trajectory Planning: Design for the Modular Robot Arm Applications
Author
Li Xianhua ; Tan Shili ; Feng Xiaowei ; Rong Hailiang
Author_Institution
Sch. of Mechatron. & Autom., Shanghai Univ., Shanghai, China
fYear
2009
fDate
19-20 Dec. 2009
Firstpage
1
Lastpage
4
Abstract
In this paper, we report a household service robot with multi-sensor and modular arms. According to the DH convention, the coordinate system of robot arm is established. The methods of solving direct and inverse kinematics are introduced. Because both acceleration and speed of the arm modular are limited, so LSPB trajectory planning method is designed for our robot arm. Simulations and experimental results on our modular robot arm are presented.
Keywords
manipulator kinematics; multi-robot systems; path planning; service robots; LSPB trajectory planning method; coordinate system; household service multirobot system; inverse kinematics; linear segments with parabolic blends trajectory; modular robot arm applications; multisensor; Acceleration; DH-HEMTs; Equations; Manipulators; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Servomotors; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-4994-1
Type
conf
DOI
10.1109/ICIECS.2009.5365861
Filename
5365861
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