Title :
Time optimal trajectory planning and control of substrate handling robot
Author :
Jilai Song ; Fang Xu ; Fengshan Zou
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
Abstract :
In this paper, we analyse the structure characteristics, and calculate the forward and inverse kinematics of substrate handling robot. Dynamics control of the robot is divided into horizontal and vertical directions axes, and friction and kinetic parameters are identified. Finally, we use the time optimal trajectory planning algorithm to give the curve, and Matlab robot toolbox is used in the experiment. By comparing the whole dynamics torque and the motor torque, the results prove the validity of the algorithm.
Keywords :
industrial robots; path planning; robot dynamics; robot kinematics; semiconductor industry; time optimal control; torque; trajectory control; Matlab robot toolbox; dynamics control; dynamics torque; friction parameter identification; kinetic parameter identification; motor torque; robot forward kinematics; robot inverse kinematics; semiconductor processing industry; substrate handling robot control; time optimal trajectory planning algorithm; Friction; Mathematical model; Planning; Service robots; Torque; Trajectory; Parameter Identification; Robot Control; Substrate Handling Robot; Time Optimal Trajectory Planning;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053103
