Title :
A motion generation method of industrial robots in cartesian space
Author :
PlÉdel, Patrick ; Bestaoui, Yasmina ; Gautier, Maxime
Author_Institution :
Lab. d´´Autom., Nantes Univ., France
Abstract :
Cartesian positions, speeds and accelerations are planned to describe the desired motion of manipulators. We examine the cases of point to point and via points motions, assuming that the reference values of the manipulator are represented by C2 polynomial trajectories. Usual kinematical constraints are not always sufficient, then we focus on voltage and current DC actuator constraints
Keywords :
DC motors; electric actuators; industrial manipulators; manipulator kinematics; path planning; C2 polynomial trajectories; Cartesian space; acceleration planning; current DC actuator constraints; industrial robots; kinematical constraints; manipulators; motion generation method; point-to-point motions; position planning; speed planning; via points motions; voltage DC actuator constraints; Acceleration; Actuators; Aerospace industry; Character generation; End effectors; Friction; Manipulator dynamics; Orbital robotics; Polynomials; Service robots;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574533
