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Trajectory planning for coordinated motion of a robot and a positioning table. II. Optimal trajectory specification

机译:机器人和定位台协调运动的轨迹规划。二。最佳轨迹规格

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For pt.I see ibid., p.735-45 (1990). A robot and positioning table system is a kinematically redundant system with respect to planar motion. Two strategies were developed in pt.I to resolve this redundancy and to specify path shapes that make the best utilization of the workspace and speed characteristics of the two devices. In this part, a one-variable dynamic programming approach is developed to obtain a near-minimum time and/or energy trajectory of the two devices. The developed strategies were studied using this path-planning algorithm on a model of a 3 d.o.f. robot and a two-axis linear positioning table for a variety of path shapes and constraints. In addition, experiments were performed in a typical workcell to show the feasibility of the developed strategies. In moving the two devices in opposite directions, the least travel time is obtained when the original path is resolved more in favor of the faster device, whereas the quality of resultant motion is dependent on the controller performance of each device.
机译:关于pt,我见同上,p.735-45(1990)。机器人和定位台系统是相对于平面运动的运动学冗余系统。在pt.I中开发了两种策略来解决这种冗余并指定路径形状,以最佳利用两个设备的工作空间和速度特性。在这一部分中,开发了一种单变量动态编程方法来获得两个设备的接近最小的时间和/或能量轨迹。使用此路径规划算法对3 d.o.f模型进行了研究。机械手和两轴线性定位工作台,用于各种路径形状和约束。此外,在一个典型的工作单元中进行了实验,以证明所开发策略的可行性。在使两个设备沿相反方向移动时,如果更有利于更快的设备来解决原始路径,则可以获得最少的行进时间,而最终运动的质量取决于每个设备的控制器性能。

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