TY - GEN
T1 - Time-optimal trajectory generation of a fast-motion planar parallel manipulator
AU - Liu, Yanjie
AU - Wang, Chenqi
AU - Li, Juan
AU - Sun, Lining
PY - 2006
Y1 - 2006
N2 - This paper proposes time-optimal trajectory generation method for industrial robots. The proposed time-optimal trajectory generation method studies the relationship between the maximum acceleration and the maximum velocity, and presents an algorithm for deriving the optimal trajectory based on this relationship. In order to verify this method, a new planar parallel robotic manipulator with fast motion and high precision is designed. Finally, the proposed method is applied to the designed robot, and the simulation results prove that the method is effective for the industrial robot.
AB - This paper proposes time-optimal trajectory generation method for industrial robots. The proposed time-optimal trajectory generation method studies the relationship between the maximum acceleration and the maximum velocity, and presents an algorithm for deriving the optimal trajectory based on this relationship. In order to verify this method, a new planar parallel robotic manipulator with fast motion and high precision is designed. Finally, the proposed method is applied to the designed robot, and the simulation results prove that the method is effective for the industrial robot.
KW - Parallel manipulator
KW - Time optimal
KW - Trajectory generation
UR - https://www.scopus.com/pages/publications/34250626815
U2 - 10.1109/IROS.2006.282625
DO - 10.1109/IROS.2006.282625
M3 - 会议稿件
AN - SCOPUS:34250626815
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 754
EP - 759
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -