Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Smoothly Connected Path Generation and Time-Scheduling Method for Industrial Robot Applications

산업용로봇 작업을 위한 유연한 연결경로 생성과 시간계획

  • Published : 2006.07.01
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Abstract

This article proposes a smooth path generation and time scheduling method for general tasks defined by non-smooth path segments in industrial robotic applications. This method utilizes a simple 3rd order polynomial function for smooth interpolation between non-smooth path segments, so that entire task can effectively maintain constant line speed of operation. A predictor-corrector type numerical mapping technique, which correlates time based speed profile to the smoothed path in Cartesian space, is also provided. Finally simulation results show the feasibility of the proposed algorithm.

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References

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