Title :
Omni-directional opera robot motion planning based on wavelet
Author :
Peng-yu, Liu ; Yong-yi, He
Author_Institution :
Shanghai Robot. Inst., Shanghai Univ., Shanghai, China
Abstract :
This paper presents a novel motion planning method based on wavelet sampling theorem and kinematics model of omni-directional opera robot. According to the method, the speed of each driving motor can be derived out in an easy way. However, the speeds at all the key points along the trajectory are the important parameters for the PLC control system of opera robot. Through experiment, the opera robot can be driven to move smoothly along the expected trajectory by the light of the method.
Keywords :
mobile robots; motor drives; path planning; programmable controllers; robot kinematics; velocity control; wavelet transforms; PLC control system; driving motor speed; kinematics model; omnidirectional opera robot motion planning; wavelet sampling theorem; Automation; Robots; Kinematics model; Motion planning; Omni direction; Opera robot; Wavelet sampling theorem;
Conference_Titel :
Artificial Intelligence and Education (ICAIE), 2010 International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4244-6935-2
DOI :
10.1109/ICAIE.2010.5640959
