Path planning and dynamic simulation of weightlifting robot manipulator

Pi-Ying Cheng*, Chun Yen Chen

*此作品的通信作者

    研究成果: Conference contribution同行評審

    摘要

    The current paper proposes a novel algorithm to construct an efficient path for each joint of the weightlifting robot based on the proposed "momentum method". The Dijkstra Algorithm, a typical searching method in Artificial Intelligence, is adopted to obtain the shortest path. A novel idea is proposed to improve the efficiency of Dijkstra Algorithm so that it took less time to search for solutions with high accuracy. In order to obtain a high efficiency computing processes in dynamics, we formulize the optimal path with the discrete grid points based on the B-spline theory, so that we can calculate the angular velocity, angular acceleration and moment more precisely. The path planning dynamic model of three joints weightlifting robot is presented. The results of simulations demonstrated the effective and practical work with the proposed method in this paper.

    原文English
    主出版物標題2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007
    DOIs
    出版狀態Published - 1 十二月 2007
    事件2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007 - Hsinchu, Taiwan
    持續時間: 9 十二月 200711 十二月 2007

    出版系列

    名字Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
    ISSN(列印)2162-7568
    ISSN(電子)2162-7576

    Conference

    Conference2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007
    國家/地區Taiwan
    城市Hsinchu
    期間9/12/0711/12/07

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