Jerk-limited spatial PH trajectory generation for high-speed robotics application
سال انتشار: 1401
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 190
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شناسه ملی سند علمی:
ICME19_127
تاریخ نمایه سازی: 19 اردیبهشت 1402
چکیده مقاله:
This paper presents a novel algorithm for generating spatialPH trajectories for high-speed robotics applications based onjerk-limited motion law. It addresses the challengesassociated with traditional trajectory planning methods andprovides a solution for generating smooth and efficienttrajectories. Simulations show that it can achieve faster andmore accurate motion control than traditional methods, whileensuring safety and efficiency. The proposed algorithmprovides a promising solution for addressing the challengesand opens up new possibilities for the development ofadvanced robotic systems.
کلیدواژه ها:
Spatial trajectory generation – Jerk limit –Pythagorean-hodograph – High speed
نویسندگان
Mohammad Malekzadeh Arasteh
Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad, Mashhad, Iran
Amirhossein Nazari
Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad, Mashhad, Iran
Alireza Akbarzadeh
Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad , Mashhad, Iran
Behnam Motakef Imani
CAD/CAM laboratory, Mechanical Engineering Department, Engineering Faculty, Ferdowsi Universityof Mashhad, Mashhad, Iran