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

fYear

2014

Firstpage

2432

Lastpage

2436

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7053103

Filename

7053103