Guiding the user to continuous‐path control

Rossol, Lothar; Stoddard, Kenneth A.

doi:10.1108/eb005084

Cited by 1 publication

(1 citation statement)

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“…However, the one-rotation method is often avoided in practical applications because of its complexity in estimating the orientation path (Rossol and Stoddard, 1990). On the other hand, the two-rotation method is widely used because the orientation path interpolated by this method can be easily anticipated.…”

Section: Admissible Accelerationmentioning

confidence: 99%

A practical approach for minimum‐time trajectory planning for industrial robots

Kim

et al. 2010

Industrial Robot: An International Journal

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to maximize the speed of industrial robots by obtaining the minimum-time trajectories that satisfy various constraints commonly given in the application of industrial robots. Design/methodology/approach -The method utilizes the dynamic model of the robot manipulators to find the maximum kinematic constraints that are used with conventional trajectory patterns, such as trapezoidal velocity profiles and cubic polynomial functions. Findings -The experimental results demonstrate that the proposed method can decrease the motion times substantially compared with the conventional kinematic method. Practical implications -Although the method used a dynamic model, the computational burden is minimized by calculating dynamics only at certain points, enabling implementation of the method online. The proposed method is tested on more than 40 different types of robots made by Hyundai Heavy Industries Co. Ltd (HHI). The method is successfully implemented in Hi5, a new generation of HHI robot controller. Originality/value -The paper shows that the method is computationally very simple compared with other minimum-time trajectory-planning methods, thus making it suitable for online implementation.

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Section: Admissible Accelerationmentioning

confidence: 99%