Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform

Yu Chen Lin, Chao Chung Peng

研究成果: Conference contribution

摘要

For general robot arm applications, the base of the manipulator is equipped on a fixed platform. However, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. The robotics are usually equipped on certain moving platforms such as multi-axis motion stages or autonomous ground vehicles. Therefore, controlling of the end-effector (EE) position on a moving platform will be challenging. To realize such the high mobility control applications, it usually involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to provide a general solution of joint space command generation. The EE position control is formulated as an optimization problem and an iterative algorithm is present for finding the local optimal solution. For a given target point and a pose of the moving platform, the sub-optimal joint angle command positions are generated. Comparing with the traditional method, such as inverse kinematics, the proposed algorithm avoids complex kinematics derivation. Finally, the developed method is further extended to higher degree of freedom (HDOF) robot manipulators to verify the feasibility for robot control on a moving platform.

原文English
主出版物標題Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面512-517
頁數6
ISBN(電子)9781728134581
DOIs
出版狀態Published - 2019 十一月
事件9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 - Bangkok, Thailand
持續時間: 2019 十一月 182019 十一月 20

出版系列

名字Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019

Conference

Conference9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
國家/地區Thailand
城市Bangkok
期間19-11-1819-11-20

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 機械工業
  • 控制和優化

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