Abstract
This paper deals with the trajectory planning problem of a 6-DOF gluing robot to achieve a smooth and controllable tracking performance during the transition path between two basic paths, which mean straight lines and circular arcs, in Cartesian space. First, Bezier curve, which is intuitive and easy to control, is employed in the trajectory planning to generate the interpolation points, which need good accuracy and stability of velocity in Cartesian space. Then, the velocity controlling plan for the end-effector during transition path would be discussed, and it offers great controllability and stability of velocity on the transition paths. Finally, a comparison of the performance both in joint space and Cartesian space between trajectory planning with cubic spline in joint space and that with Bezier curve in Cartesian space is presented to show the advantages of Bezier curve.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
