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Vol. 162, Issue 1, January 2014, pp. 11-20




Picking Robot Arm Trajectory Planning Method

1, 2 Zhang Zhiyong, 1 He Dongjian, 2* Tang Jing Lei, 2 Meng Lingshuai

1 College of Mechanical & Electronic Engineering, Northwest A&F University, Yangling, Shaanxi, 712100, China
*2 College of information Engineering, Northwest A&F University, Yangling, Shaanxi, 712100, China

1 E-mail: zzy@nwsuaf.edu.cn, jingleitang@nwsuaf.edu.cn


Received: 18 September 2013 /Accepted: 22 November 2013 /Published: 31 January 2014

Digital Sensors and Sensor Sysstems


Abstract: The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.


Keywords: Picking robot arm, Trajectory planning, Posture, Interpolation.


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