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Study of Motion Planning of Flexible Cooperative Robots

Author: WangRuiMao
Tutor: YuYueQing
School: Beijing University of Technology
Course: Mechanical Design and Theory
Keywords: Flexible robot Coordinated operation Motion planning Compensate
CLC: TP242
Type: Master's thesis
Year: 2003
Downloads: 160
Quote: 0
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Abstract


Robotics is one related to electronics , computer science, control theory , sensor technology , mechanical engineering , bionics , artificial intelligence and other aspects of cross-disciplinary . The flexible robot coordination operation is one of the topics at the forefront of the field of robotics research , due to the difficult , the current domestic and international research in this regard is also very limited . So far, these studies for kinetic modeling and simulation , little research coordination of the operating system on flexible robot motion planning . In this paper , a preliminary exploration in this area . First Flexible Robots Manipulating a point-to-point motion planning . Right robot articulation compensation principle was explained, the motion compensation is performed is operated object to improve the positioning accuracy of the end point in the track of the robot joints planning method . According to the number of joints to be corrected , it is divided into six planning situation , numerical simulation of each case and in each case from the results . Secondly, the coordinated operation of flexible robot continuous trajectory motion planning . Three different ways according to the characteristics of the coordinated operation of the continuous path motion planning , motion planning , namely : the first one is divided into four motion planning exercise time , and the second is taken into account between paragraphs movement smooth transition between paragraphs cubic function , and the third is to make the robot motion is smoother and easier motion planning , exercise time is divided into three sections and between paragraphs five times a function of the transition, each method are gradually improving the former method . A variety of numerical results illustrate the advantages and disadvantages of the various methods , ultimately summed up the ideal planning program

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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