A method for generating a controllable and quasi time optimal robot trajectory.
|Title:||A method for generating a controllable and quasi time optimal robot trajectory.|
|Abstract:||Robot arms are used within their wok space to execute a variety of physical tasks like pick and place, or weld along a contour. From a robot control perspective, these tasks can be simply viewed as tasks of trajectory planning of the robot end effector. The path of the robot end effector is generally prescribed as a number of spatial points through which the end effector has to pass. A large number of approaches for the planning of the trajectory of a robot has been developed. These approaches do not generally allow adequate control over the acceleration profile of the trajectory. Furthermore, among those approaches only a few generate trajectories that are time optimal, and only for very simplistic robots. This work deals with yet another method for trajectory planning. The method allows full control over the acceleration profile so as to minimize the jerk at the beginning and end of the motion. The method also allows the utilization of the axes drive motors to their full capability in order to obtain a quasi-optimum trajectory that passes through all the points defining the end effector path. Simulation of the method for a three degrees of freedom revolute arm manipulator has been carried out. Results and discussion are presented in this study.|
|Collection||Thèses, 1910 - 2010 // Theses, 1910 - 2010|