Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization
The residual vibration caused by flexible end-effector decreases the positioning accuracy,for transfer robots run with high speed and high acceleration,stop and start frequently. The active and passive control methods and the method of only considering motion curve smoothness are used to reduce vibr...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.006 |
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| _version_ | 1841548015943286784 |
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| author | Li Chengxiang Yang Zhijun Cai Tiegen |
| author_facet | Li Chengxiang Yang Zhijun Cai Tiegen |
| author_sort | Li Chengxiang |
| collection | DOAJ |
| description | The residual vibration caused by flexible end-effector decreases the positioning accuracy,for transfer robots run with high speed and high acceleration,stop and start frequently. The active and passive control methods and the method of only considering motion curve smoothness are used to reduce vibration,but it has the problems such as time lag,control complexity and material cost limit. The motion of robot is simulated in dynamics method with ADAMS software,the influences of different motion curves on the motion positioning precision are compared and the parameters of S-curve are optimized. The optimized asymmetric motion curve is used to be motion curve to get robot move fast and smoothly. A motion planning method for transfer robot based on dynamics is proposed. |
| format | Article |
| id | doaj-art-e9f3bf4265da4cce84d89fc4feb4b526 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e9f3bf4265da4cce84d89fc4feb4b5262025-01-10T14:15:53ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140283129926213Motion Planning for the Transfer Robot based on ADAMS Simulation OptimizationLi ChengxiangYang ZhijunCai TiegenThe residual vibration caused by flexible end-effector decreases the positioning accuracy,for transfer robots run with high speed and high acceleration,stop and start frequently. The active and passive control methods and the method of only considering motion curve smoothness are used to reduce vibration,but it has the problems such as time lag,control complexity and material cost limit. The motion of robot is simulated in dynamics method with ADAMS software,the influences of different motion curves on the motion positioning precision are compared and the parameters of S-curve are optimized. The optimized asymmetric motion curve is used to be motion curve to get robot move fast and smoothly. A motion planning method for transfer robot based on dynamics is proposed.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.006Residual vibrationAdamsSimulation optimizationMotion planning |
| spellingShingle | Li Chengxiang Yang Zhijun Cai Tiegen Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization Jixie chuandong Residual vibration Adams Simulation optimization Motion planning |
| title | Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization |
| title_full | Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization |
| title_fullStr | Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization |
| title_full_unstemmed | Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization |
| title_short | Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization |
| title_sort | motion planning for the transfer robot based on adams simulation optimization |
| topic | Residual vibration Adams Simulation optimization Motion planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.006 |
| work_keys_str_mv | AT lichengxiang motionplanningforthetransferrobotbasedonadamssimulationoptimization AT yangzhijun motionplanningforthetransferrobotbasedonadamssimulationoptimization AT caitiegen motionplanningforthetransferrobotbasedonadamssimulationoptimization |