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Titolo:
Optimum contouring of industrial robot arms under assigned velocity and torque constraints
Autore:
Munasinghe, SR; Nakamura, M; Goto, S; Kyura, N;
Indirizzi:
Saga Univ, Dept Adv Syst Control Engn, Honjo, Saga, Japan Saga Univ HonjoSaga Japan ept Adv Syst Control Engn, Honjo, Saga, Japan Kinki Univ, Dept Elect & Comp Engn, Iizuka, Fukuoka, Japan Kinki Univ Iizuka Fukuoka Japan lect & Comp Engn, Iizuka, Fukuoka, Japan
Titolo Testata:
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
fascicolo: 2, volume: 31, anno: 2001,
pagine: 159 - 167
SICI:
1094-6977(200105)31:2<159:OCOIRA>2.0.ZU;2-W
Fonte:
ISI
Lingua:
ENG
Soggetto:
MANIPULATORS; TRAJECTORIES;
Keywords:
assigned velocity constraint; delay dynamics compensation; industrial robot arm; off-line trajectory generation; torque/acceleration constraint;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
15
Recensione:
Indirizzi per estratti:
Indirizzo: Munasinghe, SR Saga Univ, Dept Adv Syst Control Engn, Honjo, Saga, Japan Saga Univ Honjo Saga Japan ntrol Engn, Honjo, Saga, Japan
Citazione:
S.R. Munasinghe et al., "Optimum contouring of industrial robot arms under assigned velocity and torque constraints", IEEE SYST C, 31(2), 2001, pp. 159-167

Abstract

This paper presents a general solution to the contouring problem of industrial robot arms, under the constraints of assigned Cartesian velocity and joint torque/acceleration. The proposed solution is an off-line trajectory generation algorithm and, therefore, it possesses significant industrial implications, as no hardware changes are needed for its implementation. According to the proposed method, maximum utility of joint torque/acceleration isguaranteed bound to the assigned velocity constraint. In the proposed method, a realizable trajectory is generated from the objective trajectory and it is compensated for delay dynamics using a forward compensator. The proposed method has been experimented with Performer MK-3s (PMK-3s) industrial robot arm in that optimum contouring has been realized.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 09/04/20 alle ore 00:17:13