제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.92-97
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- 1988
산업용 로보트를 위한 3차 다항식 조인트궤적의 구성과 최적화
Formulation and optimization of cubic polynomial joint trajectories for industrial robots
초록
The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.
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