DocumentCode :
529483
Title :
Trajectory planning and motion control of a two-armed robot
Author :
Tsai, Ching-Chih ; Liang, Ting-Ting ; Li, Yi-Yu
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
fYear :
2010
fDate :
18-21 Aug. 2010
Firstpage :
2864
Lastpage :
2871
Abstract :
This paper presents techniques and methodologies for trajectory planning and motion control of a two-armed robot with two 7-DOF arms. The trajectory planning regarding robot´s postures is achieved by first finding several via-postures and then connecting them using the B-spline curve approach. Given robot´s posture, an analytical inverse kinematic solver is proposed to find a set of seven joint angles with respect to each selected posture. Trapezoidal velocity profiles are employed to obtain trajectories of all joints simultaneous. The motion control of each 7-DOF arm is done by utilizing PIV controllers, in order to tracking position and velocity commands simultaneously. Simulation and experimental results are conducted to examine the efficacy of the proposed trajectory planning and motion control method.
Keywords :
manipulator kinematics; motion control; position control; splines (mathematics); B-spline curve approach; PΓV control; inverse kinematic solver; motion control; robot posture; trajectory planning; two armed robot; Elbow; Joints; Kinematics; Manipulators; Motion control; Robot kinematics; Anthropomorphous; PIV; forward kinematics; inverse kinematics; motion control; two-armed robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
Type :
conf
Filename :
5602802
Link To Document :
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