Continuous Path Planning and Implementation in Internet-based Robot Arm System

被引：1
|
作者：
Zhou, Haiyan [1 ]
Cong, Shuang [1 ]
Shang, Weiwei [1 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
robot arm; remote control; continuous path control; linear interpolation; four-leaf rose curve;
D O I：
10.1109/WCICA.2010.5554632
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Continuous path (CP) control was researched on an Internet-based two degrees-of-freedom robot arm in this paper. First, the condition needed to realize the continuous path control was analyzed. The important parameter "the highest resultant speed" was calculated considering the existence of network-delay. Then the relation between the linear interpolation numbers and errors of the four-leaf rose curve was derived. The remote control experiment in the actual robot arm system was carried out, and the effects of the interpolation point number to control precision and drawing time were also discussed. At last, a constant compensation method was applied to eliminate the mechanical effects existed in the system and improve the precision of the path-tracking further.
引用
收藏
页码：2470 / 2475
页数：6
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