A contour following strategy for 2-link manipulator using coordinate transformation approach

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

Concerning control of robot manipulator, a general idea is to handle the motion of end-effector. With respect to conventional contour design, a prescribed profile in work space is usually decomposed into independent joint position such that the success in contouring task relies on good tracking performance of each joint. Nevertheless, sometimes it is difficult to achieve precise track because of the dynamics which exists in each joint is different from each other. As a result, in this paper, architecture of contour control associating with a contouring index (CI) is proposed via using matrix transformation scheme. Calculated by the geometrical sense, the CI is taken as an equivalent contour error such that the reduction in CI is equivalent to reduction in real contour error. Moreover, with the aid of the CI, the end-effector is capable to attach to the desired profile even though tracking errors in work space exist significantly. Finally, in consideration of circular and non-circular profiles, the contour following properties are demonstrated by utilizing a two degree of freedom rigid robot via numerical simulations.

原文English
主出版物標題Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
頁面328-333
頁數6
出版狀態Published - 2007 十二月 1
事件13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics - Wurzburg, Germany
持續時間: 2007 八月 292007 八月 31

出版系列

名字Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics

Other

Other13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
國家Germany
城市Wurzburg
期間07-08-2907-08-31

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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    Peng, C-C., & Chen, C-L. (2007). A contour following strategy for 2-link manipulator using coordinate transformation approach. 於 Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics (頁 328-333). (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).