A novel synchronized motion method for direct and point-to-point robot trajectory planning in constrained workspace

• Verfasst von: Kandil, Amr A. [VerfasserIn]
• Verfasst von: Badreddin, Essameddin [VerfasserIn]
• Titel: A novel synchronized motion method for direct and point-to-point robot trajectory planning in constrained workspace
• Verf.angabe: Amr Alsaeed Kandil,Essameddin Badreddin
• Jahr: 2008
• Umfang: 6 S.
• Fussnoten: Gesehen am 13.06.2019
• Titel Quelle: Enthalten in: IEEE International Conference on Systems, Man and Cybernetics, 2008
• Ort Quelle: Piscataway, NJ : IEEE, 2008
• Jahr Quelle: 2008
• Band/Heft Quelle: (2008), Seite 3108-3113
• ISBN Quelle: 978-1-4244-2383-5
• ISBN Quelle: 1-4244-2383-X
• ISBN Quelle: 978-1-4244-2383-5
• DOI: doi:10.1109/ICSMC.2008.4811773
• Datenträger: Online-Ressource
• Sprache: eng
• K10plus-PPN: 1667366262

Abstract

This paper proposes a novel method for planning point-to-point robot trajectories. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place. The new method is based on the synchronized links motion with a constant ratio of the link angle positions. The new method of synchronized motion was illustrated using a two-degree-of freedom (DOF) planar robot and compared with conventional methods.