Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning

被引：0

作者：

Briot, S. ^{[1
]}

Arakelian, V. ^{[1
]}

Sauvestre, N. ^{[1
]}

Le Baron, J. -P. ^{[1
]}

机构：

[1] Inst Rech Commun & Cybernet Nantes IRCCyN, Nantes, France

来源：

ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL | 2010年 / 524期

关键词：

DESIGN;

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：

This paper deals with the problem of shaking force balancing of high-speed robots based on a new optimal trajectory planning approach. The aim of the new approach is the optimal path planning of the robot links centre of masses, which allows a considerable reduction of the variable inertia forces transmitted to the robot frame. The efficiency of the suggested method is illustrated by a numerical simulation of a planar two links 2R serial robot, in which reductions in the shaking force of 63 % and in input torque of 84 % are achieved.

引用

页码：307 / +

页数：2

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