Bezier Curve Based Programmed Trajectory for Coordinated Motion of Two Robots in Cartesian Space

Author:

Slota Adam1

Affiliation:

1. Cracow University of Technology

Abstract

Coordinated motion of two robots in Cartesian space is considered in the paper. The goal is to generate trajectories for which change of distance between points on trajectories during motion is minimal. To minimize relative position errors along trajectories an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motions. To calculate the speed vector of the programmed motion at the current position, the speed at the closest point on the programmed trajectory is used. The closest point is defined as the one to which the distance from the current position is minimal or the programmed position at given time. In order to attract the generated trajectory to the programmed one a modification of the programmed speed vector is proposed. The described approach is verified in simulation. For simulation experiments programmed trajectories defined by Bezier curve segments are used. Simulations for different shapes of programmed trajectories and different programmed velocity rates are presented.

Publisher

Trans Tech Publications, Ltd.

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3