Lange, Friedrich und Albu-Schäffer, Alin (2016) Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots. IEEE Robotics and Automation Letters, 1 (1), Seiten 82-89. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2506899. ISSN 2377-3766.
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Kurzfassung
Standard industrial controllers of robot arms define constraints on the velocity, the acceleration, and the jerk and abort execution in case any of them is violated. In addition to satisfying these constraints, the presented method tries to generate a trajectory that is path-accurate, i.e., that exactly tracks the 6-dof shape of the desired path in axis space. Furthermore, the computed trajectory is as close as possible to the original robot program. This is reached by forward scaling and backtracking until a feasible trajectory is obtained. In contrast to previous work, blending of subsequent segments of the desired path is prevented by interpolation of the arc length instead of direct position interpolation. Because of its time-efficiency the algorithm can be applied in each sampling step, e.g. every 4~ms for a standard KUKA robot with RSI interface. Experimental results demonstrate the approach.
elib-URL des Eintrags: | https://elib.dlr.de/101288/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots | ||||||||||||
Autoren: |
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Datum: | 1 Januar 2016 | ||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Band: | 1 | ||||||||||||
DOI: | 10.1109/LRA.2015.2506899 | ||||||||||||
Seitenbereich: | Seiten 82-89 | ||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
ISSN: | 2377-3766 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Trajectory Generation, Motion Control of Manipulators, Industrial Robots | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||
Hinterlegt am: | 15 Feb 2016 13:56 | ||||||||||||
Letzte Änderung: | 14 Dez 2019 04:23 |
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