scholarly journals Robot Motion Trajectory-Measurement with Linear Inertial Sensors

10.5772/4645 ◽  
2005 ◽  
Author(s):  
Bernard Favre
Keyword(s):  
Inertial Sensors ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Trajectory Measurement

scholarly journals A new method for high speed and smooth transfer of robot motion trajectory

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401663830 ◽  
Author(s):  
Haikuo Shen ◽  
Liangwei Jiang ◽  
Qinjian Zhang ◽  
Yong Tao ◽  
Yunan Cao
Keyword(s):  
High Speed ◽  
New Method ◽  
Robot Motion ◽  
Motion Trajectory

Simulation of Robot Motion Operating in the Workcell to Specify Servomotors in its Individual Joints

2014 ◽  
Vol 718 ◽  
pp. 83-87
Author(s):  
Katarina Monkova ◽  
Andrea Cizikova
Keyword(s):  
Inverse Kinematics ◽  
Virtual Simulation ◽  
Robot Motion ◽  
Motion Trajectory ◽  
The Real ◽  
Computer Aid ◽  
Specific Position ◽  
End Effectors ◽  
Definition Of

Robots and manipulators are often part of technological workshop. Their end effectors usually repeat motion at the same path so to be the workpiece transferred and oriented into the specific position. With the definition of the servomotors and drivers in individual joints of robot, when the motion trajectory of selected point is known, is concerned part of mechanics so called inverse kinematics. The article deals with virtual simulation of robot motion as a tool that supports the research of kinematics characteristics in individual joints. Software PTC Creo was used for the computer aid of modelling and servomotors investigation. Obtained dependences of accelerations in time for each joint can be backward used at the controlling of robot motion in the real conditions.

scholarly journals Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 199747-199758
Author(s):  
Shanxiang Fang ◽  
Jianguo Cao ◽  
Zhengyang Zhang ◽  
Qinjian Zhang ◽  
Weidong Cheng
Keyword(s):  
High Speed ◽  
Robot Motion ◽  
Motion Trajectory

Development of Dual-Arm Assistant Robot: Motion Trajectory Planning for the Manipulator Arm

2017 ◽  
Vol 11 (9) ◽  
pp. 683
Author(s):  
Ivan Vladimirovich Krechetov ◽  
Arkady Alekseevich Skvortsov ◽  
Pavel Sergeevich Lavrikov ◽  
Vladislavs Korotkovs
Keyword(s):  
Trajectory Planning ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Manipulator Arm ◽  
Dual Arm

Motion Trajectory Measurement of NC Machine Tools Using Accelerometers

2011 ◽  
Vol 5 (3) ◽  
pp. 387-394 ◽  
Author(s):  
Ryuta Sato ◽  
◽  
Kotaro Nagaoka ◽  
Keyword(s):  
Dynamic Error ◽  
Parameter Tuning ◽  
Motion Trajectory ◽  
Tuning Method ◽  
Compensation Systems ◽  
Setting Error ◽  
Nc Machine ◽  
Squareness Errors ◽  
Drive Systems ◽  
Trajectory Measurement

NC controllers use different types of compensation systems to improve motion accuracy of feed drive systems against pitch error, friction, backlash, and elastic deformation. Compensators for static error, such as pitch and squareness errors, are tuned semiautomatically. However, for dynamic error such as quadrant glitches and vibration, parameter tuning takes too much time. In this study, motion trajectory measurement for parameter tuning using accelerometers has been proposed. In the methods, displacements of each axis can be obtained from measured accelerations along each axis. Although the obtained displacements include some errors, such as setting error, sensitivity error, and integral error in numerical integration, the errors can be compensated for based on the feedback positions measured simultaneously. To confirm the feasibility of the proposed methods, measurement tests using a grid encoder are carried out. Results of the measurements confirm that the circular trajectories and vibrations can be measured by the proposed method. Automatic parameter tuning method for the backlash compensator is also proposed.

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gaoping Xu ◽  
Hao Zhang ◽  
Zhuo Meng ◽  
Yize Sun
Keyword(s):  
Local Maximum ◽  
Good Effect ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Interpolation Algorithm ◽  
Robot Arm ◽  
Joint Movement ◽  
Content Type ◽  
Nurbs Curves ◽  
Acceleration And Deceleration

PurposeThe purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve the problem of sparse and incomplete trajectory points of the head and heel of the shoe sole when extracting robot motion trajectories using structured-light 3D cameras and to ensure the robot joints move smoothly, so as to achieve a good effect of automatic spraying of the shoe sole with a 7-degree-of-freedom (DOF) robot.Design/methodology/approachFirstly, the original shoe sole edge trajectory position points acquired by the 3D camera are fitted with NURBS curves. Then, the velocity constraint at the local maximum of the trajectory curvature is used as the reference for curve segmentation and S-shaped acceleration and deceleration planning. Immediately, real-time interpolation is performed in the time domain to obtain the position and orientation of each point of the robot motion trajectory. Finally, the inverse kinematics of the anthropomorphic motion of the 7-DOF robot arm is used to obtain the joint motion trajectory.FindingsThe simulation and experiment prove that the shoe sole spraying trajectory is complete, the spraying effect is good and the robot joint movement is smooth, which show that the algorithm is feasible.Originality/valueThis study is of good practical value for improving the quality of automated shoe sole spraying, and it has wide applicability for different shoe sole shapes.

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