Real-time end-effector path following for robot manipulators subject to velocity, acceleration, and jerk joint limits

被引：0
|
作者：
Antonelli, G [1 ]
Chiaverini, S [1 ]
Fusco, G [1 ]
机构：
[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, I-03043 Cassino, FR, Italy
来源：
2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an inverse kinematics algorithm for robot manipulators is developed which takes into account joint velocity, acceleration and jerk limits while ensuring tracking of the assigned end-effector path. The desired end-effector trajectory is supposed to be assigned on-line and the algorithm is suitable for real-time implementation on nonredundant robot arms. Numerical simulation results are reported to demonstrate the effectiveness of the proposed technique.
引用
收藏
页码：452 / 457
页数：2
相关论文
共 38 条
  • [1] On the Effect of the End-effector Point Trajectory on the Joint Jerk of the Redundant Manipulators
    Duong, Xuan Bien
    JOURNAL OF APPLIED AND COMPUTATIONAL MECHANICS, 2021, 7 (03): : 1575 - 1582
  • [2] Uncertainty in the Estimation of End-Effector Acceleration and Angular Velocity for Robotic Manipulators
    Pena, Joao Carlos O.
    Torres, Leonardo A. B.
    PROCEEDINGS OF 13TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 4TH BRAZILIAN SYMPOSIUM ON ROBOTICS - LARS/SBR 2016, 2016, : 281 - 286
  • [3] Real-Time Robot End-Effector Pose Estimation with Deep Network
    Cheng, Hu
    Wang, Yingying
    Meng, Max Q-H
    2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 10921 - 10926
  • [4] Different-Level Simultaneous Resolution of Robot Redundancy with End-Effector Path Tracked and with Joint Velocity and Acceleration Both Minimized
    Zhang Yunong
    Li Kene
    Guo Dongsheng
    Cai Binghuang
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 4856 - 4861
  • [5] Adaptive real-time estimation of end-effector position and orientation using precise measurements of end-effector position
    Lertpiriyasuwat, Vatchara
    Berg, Martin C.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2006, 11 (03) : 304 - 319
  • [6] The structure of time-optimal controls for kinematically redundant manipulators with end-effector path constraints
    Galicki, M
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 101 - 106
  • [7] Acceleration-Level D1Z1 Scheme for Robotic Manipulators End-Effector Path Trailing
    Luo, Jiawei
    Luo, Chaolin
    Chen, Ruozhou
    Wang, Lei
    Qiu, Jinwei
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 6329 - 6334
  • [8] Two Hybrid End-Effector Posture-Maintaining and Obstacle-Limits Avoidance Schemes for Redundant Robot Manipulators
    Zhang, Zhijun
    Chen, Siyuan
    Zhu, Xupeng
    Yan, Ziyi
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2020, 16 (02) : 754 - 763
  • [9] A Real-time Tool Path Smoothing Algorithm Considering Joint Jerk Constraints
    Du X.
    Chang Z.
    Zheng J.
    Ren P.
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2024, 35 (02): : 280 - 286
  • [10] End-effector Orientation Control of Robot Manipulators via Finite-Time P-PI Control
    Muraki, Toshiaki
    Sugito, Naoki
    Satoh, Yasuyuki
    Nakamura, Hisakazu
    2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS), 2015, : 131 - 136
1234