• DocumentCode
    307292
  • 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
  • Volume
    1
  • fYear
    1996
  • fDate
    11-13 Dec 1996
  • Firstpage
    863
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
  • Conference_Location
    Kobe
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-3590-2
  • Type

    conf

  • DOI
    10.1109/CDC.1996.574533
  • Filename
    574533
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=307292