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Title: Motion generation in Cartesian space for industrial robots with actuator limitations

Creator:

Bestaoui, Yasmina ; Plédel, Patrick ; Gautier, Maxime

Date:

1997

Resource Type:

artykuł

Contributor:

Kozłowski, Krzysztof - ed.

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Abstract:

Cartesian positions, speeds and accelerations are planned to describe the desired motion of manipulators. We examine the cases of point-to-point and via-points motions, assuming that the reference values of the manipulator are represented by C2 polynomial trajectories. Taking into account usual kinematical constraints does not make use of full dynamic capabilities of the actuators. We propose to take into account the actuators' limitations on voltages and currents, in order to minimize the arrival time. We present some simulation results and show that the adopted method is of easy use.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Identifier:

oai:zbc.uz.zgora.pl:57821

Pages:

459-472

Source:

AMCS, volume 7, number 2 (1997) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

sterowanie sterowanie-teoria sztuczna inteligencja matematyka stosowana informatyka

Object collections:

Last modified:

Sep 2, 2021

In our library since:

Nov 18, 2020

Number of object content hits:

43

All available object's versions:

https://zbc.uz.zgora.pl/publication/64504

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Edition name Date
Motion generation in Cartesian space for industrial robots with actuator limitations Sep 2, 2021

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University Library
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Phone

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E-Mail

kontakt@zbc.uz.zgora.pl

Cyprian Norwid Voivodeship and
City Public Library
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65-077 Zielona Góra

(+48) 68 453 26 06

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