A Simple Method for Generating Smooth Robot Arm Motion.

Autor: Bejczy, Antal K.
Zdroj: Aspects of Soft Computing, Intelligent Robotics & Control; 2009, p123-128, 6p
Abstrakt: A computer algorithm is described for generating smooth robot arm motion in task space trajectories. The algorithm is based on observations and analysis of task space trajectory profiles produced by human operators manually, using a six degree-of-freedom position hand controller. The algorithm is formulated in the velocity-position phase space and employs a harmonic (sinusoid) base function in the phase space. Hence the name: Harmonic Motion Generator (HMG). Performance capabilities of HMG are illustrated, including its combination with force-moment sensor based active compliance control and with task space (Cartesian space) position servo control. [ABSTRACT FROM AUTHOR]
Databáze: Complementary Index