Method and system for generating trajectory of robot with continuous acceleration

Method and system for generating trajectory of robot with continuous acceleration

A method for generating trajectory of a robot with a continuous acceleration is provided. Motion commands from users are received through a motion command interface, and the motion commands of users are transmitted to a Cartesian space trajectory generator. The commands of users are transformed to t...

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Hauptverfasser: ZHANG KAILIANG, YANG DEGANG, TAN MIN, LIANG ZIZE, JING FENGSHUI, HOU ZENGGUANG, QIANG YANHUI, LI EN
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator ZHANG KAILIANG
YANG DEGANG
TAN MIN
LIANG ZIZE
JING FENGSHUI
HOU ZENGGUANG
QIANG YANHUI
LI EN
description A method for generating trajectory of a robot with a continuous acceleration is provided. Motion commands from users are received through a motion command interface, and the motion commands of users are transmitted to a Cartesian space trajectory generator. The commands of users are transformed to trajectory node data of the end of the robot in Cartesian space, and then transformed to trajectory node data in robot-joints space. Joint position, speed and acceleration in each motion servo cycle are calculated. The problems of overshoot or vibration of motion mechanisms caused by discontinuous and uncontrollable acceleration are effectively solved by the present invention.
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Method and system for generating trajectory of robot with continuous acceleration
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