Orientation planning in continuous path applications for wrist partitioned manipulators
作者:
S.D.Voliotis,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1992)
卷期:
Volume 139,
issue 6
页码: 495-502
年代: 1992
DOI:10.1049/ip-d.1992.0062
出版商: IEE
数据来源: IET
摘要:
The paper presents an algorithm of trajectory planning for wrist partitioned robotic manipulators. The desired translational trajectory is defined as a continuous function in Cartesian co-ordinates. The desired orientation is defined as a continuous function of the Frenet frame. Therefore, orientation is planned without influence of geometric changes along the translational path. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. After having derived a position, the orientation is planned using a maximising process. The present algorithm avoids singularities, because there is no need for using the inverse kinematics.
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