DocumentCode :
3662128
Title :
A fixed-distance Cartesian path planning algorithm for 6-DOF industrial robots
Author :
Mingyu Gao; Da Chen; Pan Din; Zhiwei He; Zhanxiong Wu; Yuanyuan Liu
Author_Institution :
Department of Electronic and Information Engineering, Hangzhou Dianzi University, China
fYear :
2015
fDate :
6/1/2015 12:00:00 AM
Firstpage :
616
Lastpage :
620
Abstract :
When an industrial robot moves, it needs a suitable trajectory to avoid collisions with other objects, to pass a predefined point in spatial coordinates and to achieve fast and accurate motion. Trajectory planning algorithms can be divided into two categories: the joint space-oriented and the Cartesian coordinate space-oriented. This paper presents a quick and efficient trajectory planning algorithm based on the Cartesian coordinates for 6-DOF industrial robots. By the simulation in MATLAB and verification on 6-DOF industrial robot platform, the fixed-distance algorithm can achieve speed control, position control and orientation control of the 6-DOF industrial robot. Compared with traditional algorithms, the portability, speed and control precision have gotten greatly improved.
Keywords :
"Joints","Trajectory","Robot kinematics","Planning","Service robots","Kinematics"
Publisher :
ieee
Conference_Titel :
Industrial Electronics (ISIE), 2015 IEEE 24th International Symposium on
Electronic_ISBN :
2163-5145
Type :
conf
DOI :
10.1109/ISIE.2015.7281539
Filename :
7281539
Link To Document :
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