Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

来源期刊：中南大学学报(英文版)2002年第4期

论文作者：谭冠政 胡生员

文章页码：273 - 278

Key words：industrial robot; real-time; accurate; hand pathtracking; jointtrajectory planning; extra knot;sinusoidal function; cosinoidal function

Abstract: Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on-line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.