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A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology
Liu ZM(刘钊铭)1,2,3; Liu NL(刘乃龙)1,2,3; Wang HW(王洪伟)1,2; Tian S(田申)1,2; Bai N(白宁)1,2; Zhang F(张峰)1,2; Cui L(崔龙)1,2
Department机器人学研究室
Source PublicationJournal of Robotics
ISSN1687-9600
2020
Volume2020Pages:1-11
Indexed ByEI
EI Accession number20200708169408
Contribution Rank1
Funding OrganizationInternational ermonuclear Experimental Reactor (ITER) Project under Grant 2012GB102005.
Abstract

Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26301
Collection机器人学研究室
Corresponding AuthorLiu ZM(刘钊铭)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Liu ZM,Liu NL,Wang HW,et al. A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology[J]. Journal of Robotics,2020,2020:1-11.
APA Liu ZM.,Liu NL.,Wang HW.,Tian S.,Bai N.,...&Cui L.(2020).A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology.Journal of Robotics,2020,1-11.
MLA Liu ZM,et al."A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology".Journal of Robotics 2020(2020):1-11.
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