In this paper, an online iterative learning planning method is proposed for industrial robot joint space manipulator to capture moving objects. The dynamic mathematical model of the robot is established, and the trajectory of the robot manipulator is tracked and adjusted through the path planning algorithm to change the visual impedance of the robot and optimize the system parameters. It makes the velocity direction of the end effector of the manipulator consistent with the tangent direction of the weld, and realizes the tracking and recognition of the weld trajectory at the end of the manipulator, so as to improve the accuracy and reliability of the robot in capturing moving objects. The simulation results show that the algorithm has good convergence and robustness.
| Published in | Science Journal of Circuits, Systems and Signal Processing (Volume 10, Issue 1) |
| DOI | 10.11648/j.cssp.20211001.12 |
| Page(s) | 10-14 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2024. Published by Science Publishing Group |
Industrial Robots, Path Planning, Optimization
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APA Style
Gongxing Chen, Luxin Tang. (2021). Research on Space Motion Trajectory Optimization of the Industrial Robot. Science Journal of Circuits, Systems and Signal Processing, 10(1), 10-14. https://doi.org/10.11648/j.cssp.20211001.12
ACS Style
Gongxing Chen; Luxin Tang. Research on Space Motion Trajectory Optimization of the Industrial Robot. Sci. J. Circuits Syst. Signal Process. 2021, 10(1), 10-14. doi: 10.11648/j.cssp.20211001.12
AMA Style
Gongxing Chen, Luxin Tang. Research on Space Motion Trajectory Optimization of the Industrial Robot. Sci J Circuits Syst Signal Process. 2021;10(1):10-14. doi: 10.11648/j.cssp.20211001.12
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Download@article{10.11648/j.cssp.20211001.12,
author = {Gongxing Chen and Luxin Tang},
title = {Research on Space Motion Trajectory Optimization of the Industrial Robot},
journal = {Science Journal of Circuits, Systems and Signal Processing},
volume = {10},
number = {1},
pages = {10-14},
doi = {10.11648/j.cssp.20211001.12},
url = {https://doi.org/10.11648/j.cssp.20211001.12},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.cssp.20211001.12},
abstract = {In this paper, an online iterative learning planning method is proposed for industrial robot joint space manipulator to capture moving objects. The dynamic mathematical model of the robot is established, and the trajectory of the robot manipulator is tracked and adjusted through the path planning algorithm to change the visual impedance of the robot and optimize the system parameters. It makes the velocity direction of the end effector of the manipulator consistent with the tangent direction of the weld, and realizes the tracking and recognition of the weld trajectory at the end of the manipulator, so as to improve the accuracy and reliability of the robot in capturing moving objects. The simulation results show that the algorithm has good convergence and robustness.},
year = {2021}
}
TY - JOUR T1 - Research on Space Motion Trajectory Optimization of the Industrial Robot AU - Gongxing Chen AU - Luxin Tang Y1 - 2021/04/16 PY - 2021 N1 - https://doi.org/10.11648/j.cssp.20211001.12 DO - 10.11648/j.cssp.20211001.12 T2 - Science Journal of Circuits, Systems and Signal Processing JF - Science Journal of Circuits, Systems and Signal Processing JO - Science Journal of Circuits, Systems and Signal Processing SP - 10 EP - 14 PB - Science Publishing Group SN - 2326-9073 UR - https://doi.org/10.11648/j.cssp.20211001.12 AB - In this paper, an online iterative learning planning method is proposed for industrial robot joint space manipulator to capture moving objects. The dynamic mathematical model of the robot is established, and the trajectory of the robot manipulator is tracked and adjusted through the path planning algorithm to change the visual impedance of the robot and optimize the system parameters. It makes the velocity direction of the end effector of the manipulator consistent with the tangent direction of the weld, and realizes the tracking and recognition of the weld trajectory at the end of the manipulator, so as to improve the accuracy and reliability of the robot in capturing moving objects. The simulation results show that the algorithm has good convergence and robustness. VL - 10 IS - 1 ER -
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