컨베이어 추적을 위한 로보트 매니퓰레이터의 동작 계획

Motion planning of a robot manipulator for conveyor tracking

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.