A novel synchronized motion method for direct and point-to-point robot trajectory planning in constrained workspace
This paper proposes a novel method for planning point-to-point robot trajectories. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperat...
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| Main Authors: | , |
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| Format: | Chapter/Article Conference Paper |
| Language: | English |
| Published: |
2008
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| In: |
IEEE International Conference on Systems, Man and Cybernetics, 2008
Year: 2008, Pages: 3108-3113 |
| DOI: | 10.1109/ICSMC.2008.4811773 |
| Online Access: | Verlag, Volltext: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4811773 Verlag, Volltext: https://doi.org/10.1109/ICSMC.2008.4811773 
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| Author Notes: | Amr Alsaeed Kandil,Essameddin Badreddin |
MARC
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| 520 | |a This paper proposes a novel method for planning point-to-point robot trajectories. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place. The new method is based on the synchronized links motion with a constant ratio of the link angle positions. The new method of synchronized motion was illustrated using a two-degree-of freedom (DOF) planar robot and compared with conventional methods. | ||
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