Study on Mechanical Mechanics with a Method for Minimum-Time Path Planning of Robots in Cartesian Space-Reference-Cited by-同舟云学术

Study on Mechanical Mechanics with a Method for Minimum-Time Path Planning of Robots in Cartesian Space

Published:2013-06 Issue: Volume:703 Page:181-185
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Xu Xiang Rong¹,Shi Dong Qing¹,Lu Man¹,Xu Hao¹,Zhou Tao¹

Affiliation:

1. Anhui University of Technology

Abstract

This paper presents an approach for robot motion path planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, is divided into m segments, and the coefficients of polynomial at each segment can be obtained in recursive form. The problem of minimum-time path planning and the determination of m are also studied.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.703.181.pdf

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