Path Coordination Planning and Control in Robotic Material Handling and Processing

Path Coordination Planning and Control in Robotic Material Handling and Processing

by Xuan F. Zha

Type Book
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This chapter presented a unified approach to robot trajectories coordination planning and control in Cartesian space. The unified treatment of the robot end-effector's position and orientation is based on the pose ruled surface concept and used in trajectory interpolations. The generation and control of pose trajectories for robot end effector could be carried out by generating the 3D robot pose ruled surface or path and determining the minimum or maximum value of its area function with kinemat…

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Title Statements

  • Full title :Path Coordination Planning and Control in Robotic Material Handling and Processing.

Summary

This chapter presented a unified approach to robot trajectories coordination planning and control in Cartesian space. The unified treatment of the robot end-effector's position and orientation is based on the pose ruled surface concept and used in trajectory interpolations. The generation and control of pose trajectories for robot end effector could be carried out by generating the 3D robot pose ruled surface or path and determining the minimum or maximum value of its area function with kinematics and dynamics constraints. The models and algorithms as demonstrated in this chapter are generally reliable and effective if control parameters are appropriately selected. Comparing with existing methods, the proposed planning and control models and algorithms are more generic, and can be used as an alternative to reduce the computing cost and storage in robot.

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Edition Statements

  • Publication Date:2006.

Publication Statements

The Physical Object

  • Description:1 online resource

Edition Identifiers

  • ISBN:3866112866, 9783866112865
  • oclc:ocn884021246

Subjects

Open Access Collection

Writers

Xuan F. Zha Xiaoqi Chen

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