METHOD AND SYSTEM FOR GENERATING TRAJECTORY OF ROBOT WITH CONTINUOUS ACCELERATION

A method and system 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 trans...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	LIANG, ZIZE, QIANG, YANHUI, TAN, MIN, LI, EN, YANG, DEGANG, HOU, ZENGGUANG, JING, FENGSHUI, ZHANG, KAILIANG
Format:	Patent
Sprache:	chi ; eng ; fre
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	A method and system 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. L'invention porte sur un procédé et un système pour générer une trajectoire d'un robot avec une accélération continue. Des ordres de mouvement provenant des utilisateurs sont reçus à travers une interface d'ordre de mouvement et les ordres de mouvement des utilisateurs sont transmis à un générateur de trajectoire dans un espace cart