Trajectory Planning For Coordinated Motion Of A Robot And A Positioning Table Along Smooth And Sharp Cornered Paths PDF Download
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Author | : Musa Khalil Jouaneh |
Publisher | : |
Total Pages | : 298 |
Release | : 1989 |
Genre | : |
ISBN | : |
Download Trajectory Planning for Coordinated Motion of a Robot and a Positioning Table Along Smooth and Sharp Cornered Paths Book in PDF, ePub and Kindle
Author | : Edward Tabarah |
Publisher | : |
Total Pages | : |
Release | : 1993 |
Genre | : |
ISBN | : |
Download Trajectory Planning for the Coordinated Continuous-path Motion of Two-robot Systems Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : 744 |
Release | : 1989 |
Genre | : Mechanics, Applied |
ISBN | : |
Download Applied Mechanics Reviews Book in PDF, ePub and Kindle
Author | : |
Publisher | : |
Total Pages | : 560 |
Release | : 1997 |
Genre | : Human-machine systems |
ISBN | : |
Download Proceedings Book in PDF, ePub and Kindle
Author | : AHMAD. HEMAMI |
Publisher | : |
Total Pages | : 12 |
Release | : 2000 |
Genre | : |
ISBN | : |
Download ADMISSIBLE PATH PLANNING IN COORDINATED MOTION OF TWO ROBOT ARMS. Book in PDF, ePub and Kindle
Author | : Luigi Biagiotti |
Publisher | : Springer Science & Business Media |
Total Pages | : 515 |
Release | : 2008-10-23 |
Genre | : Technology & Engineering |
ISBN | : 3540856293 |
Download Trajectory Planning for Automatic Machines and Robots Book in PDF, ePub and Kindle
This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Author | : Razali Samin |
Publisher | : |
Total Pages | : 444 |
Release | : 2002 |
Genre | : Robots |
ISBN | : |
Download Robot Manipulation Trajectory Planning in Complex Position Book in PDF, ePub and Kindle
The study proposed and demonstrated a strategy smooth trajectory planning to follow the path constrained with time optimal trajectories for the manipulator. The problem in trajectory planning was to find a smooth trajectory function and optimal joint optimisation processes. Such trajectories were obtained by considering the kinem~tics properties for velocities, accelerations and jerks profiles in joint coordi~!ites for the end-effector to move the path constraints. The method was based on the position profile composed of three polynomial segments such as 4-3-4, 3-5-3 and 3-cubic trajectory and five polynomial segments for 5-cubic trajectory. These polynomial segments combination allowed the analytical solution to the minimum time trajectory problem under consideration of velocity, acceleration and jerk by using Mathematica software. A number of simulations were performed to demonstrate the trajectory methods using robot simulation PUMA 560 model. The robot simulation model was developed using Mechanical Desktop software and the analytical analysis was done USIng visualNastran software. The simulations showed that the trajectory ability methods for the investigation under varying time ratio conditions and the operations such as Pick and Place Operation (PPO) and Continuous Path (CP). For comparison on varying time ratio 4-3-4 gave a reasonably smooth for normal trajectory condition and a ramp at middle segment to generate a minimum free-space time compared to 3-5-3 and cubic trajectories. For PPO and CP, 4-3-4 trajectory generated a lower values for accelerations and jerks compared to 3-5-3 and cubic trajectories. This showed the 4-3-4 trajectory was the best type of joint interpolated trajectory planning for any path planning operations.
Author | : |
Publisher | : |
Total Pages | : 760 |
Release | : 1989 |
Genre | : Dissertation abstracts |
ISBN | : |
Download American Doctoral Dissertations Book in PDF, ePub and Kindle
Author | : Zexiang Li |
Publisher | : Springer Science & Business Media |
Total Pages | : 468 |
Release | : 1993 |
Genre | : Computers |
ISBN | : 9780792392750 |
Download Nonholonomic Motion Planning Book in PDF, ePub and Kindle
Emerging from the Workshop on [title], held at the 1991 IEEE International Conference on Robotics and Automation, this volume consists of contributed chapters representing new developments in the area of path planning for robotic systems that are subject to either nonholonomic constraints or non-integrable conservation laws. The contributors include robotics engineers, nonlinear control experts, differential geometers, and applied mathematicians. Could by used as a reference by researchers or as a textbook for a graduate level robotics or nonlinear control course. Annotation copyright by Book News, Inc., Portland, OR
Author | : Peter Setterlund March |
Publisher | : |
Total Pages | : 532 |
Release | : 2008 |
Genre | : Manipulators (Mechanism) |
ISBN | : |
Download Geometric-based Spatial Path Planning Book in PDF, ePub and Kindle
Cartesian space path planning involves generating the position and orientation trajectories for a manipulator end-effector. Currently, much of the literature in motion planning for robotics concentrates on topics such as obstacle avoidance, dynamic optimizations, or high-level task planning. The focus of this research is on operator-generated motions. This will involve analytically studying the effects of higher-order properties (such as curvature and torsion) on the shape of spatial Cartesian curves. A particular emphasis will be placed on developing physical meanings and graphical visualization for these properties to aid the operator in generating geometrically complex motions. This research begins with a brief introduction to the domain of robotics and manipulator motion planning. An overview of work in the area of manipulator motion planning will demonstrate a lack of research on generating geometrically complex spatial paths. To pursue this goal, this report will then provide a review of the theory of algrebraic curves and their higher-order properties. This involves an evaluation of several different representations for both planar and spatial curves. Then, a survey of interactive curve generation techniques will be performed, which will draw from fields outside of robotics such as Computer Graphics and Computer-Aided Design (CAD). In addition to the reviewed methods, a new method for describing and generating spatial curves is proposed and demonstrated. This method begins with the study of a finite set of local geometric motion shapes (circular arcs, cusps, helices, etc). The local geometric shapes are studied in terms of their geometric parameters (curvature and torsion), analyzed to give physical meaning to these parameters, and displayed graphically as a family of curves based on these controlling parameters. This leads to the development of path constraints with well-defined physical meaning. Then, a curve generation method is developed that can convert these geometric constraints into parametric constraints and blend between them to form a complete motion program (cycle) of smooth paths connecting several carefully developed local curve properties. Up to ten distinct local curve shapes were developed in detail and one curve cycle demonstrated how all this could be combined into a full path planning scenario. Finally, the developed methods are packaged together into existing software and applied to an example demonstration.