Catalogo Articoli (Spogli Riviste)

OPAC HELP

Titolo:
Generation and simulation of robot trajectories in a virtual CAD-based off-line programming environment
Autore:
Zha, XF; Du, H;
Indirizzi:
Nanyang Technol Univ, Sch Mech & Prod Engn, Singapore 639798, Singapore Nanyang Technol Univ Singapore Singapore 639798 gapore 639798, Singapore
Titolo Testata:
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
fascicolo: 8, volume: 17, anno: 2001,
pagine: 610 - 624
SICI:
0268-3768(2001)17:8<610:GASORT>2.0.ZU;2-S
Fonte:
ISI
Lingua:
ENG
Soggetto:
BEZIER MOTIONS; MANIPULATORS;
Keywords:
CAD; motion planning; off-line programming; optimisation; performance analysis and evaluation; robot pose ruled surface; trajectory planning; virtual prototyping;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
22
Recensione:
Indirizzi per estratti:
Indirizzo: Zha, XF Nanyang Technol Univ, Sch Mech & Prod Engn, Nanyang Ave, Singapore639798,Singapore Nanyang Technol Univ Nanyang Ave Singapore Singapore 639798 apore
Citazione:
X.F. Zha e H. Du, "Generation and simulation of robot trajectories in a virtual CAD-based off-line programming environment", INT J ADV M, 17(8), 2001, pp. 610-624

Abstract

This paper presents a new approach to the generation and optimisation of the position and orientation trajectories in Cartesian task space, and simulation in a virtual CAD-based off-line programming environment. A novel concept of the robot pose ruled surface is proposed, and defined as a motion locus of the robot orientation vector, i.e. the vector of equivalent angular displacement. The planning for trajectories of robot end-effectors can be accomplished by generating the robot pose ruled surface and optimising its area under the constraints with good kinematics and dynamics performances. The established optimisation model is based on functional analysis and dynamics planning, and is simplified by using high-order polynomial space curvesas the robotic position and orientation trajectories. The developed system, RoboSim, is a virtual integrated environment which can be used as a testbed for automatic motion planning and simulation for robots. Two examples are given to verify the feasibility of the proposed approach and models, and to demonstrate the capabilities of generation, optimisation, and simulationmodules and libraries in the RoboSim package. The simulation results show that the approach and system are feasible and useful for motion planning, performance analysis and evaluation, and CAD-based prototyping and off-line programming in both the virtual and the real design and planning environment.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 30/03/20 alle ore 19:48:55