A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators
Автор: Automatic Control for Intelligent Robotics
Загружено: 2021-08-24
Просмотров: 483
Описание:
We developed a new trajectory planning method to rescale the robot speed in real-time in order to improve path-following performance and to deal with dynamic environments. The example shown in the video show how the robot is able to attain good path-following despite the nominal trajectory gets more and more demaning (as the nominal execution time decreases from 5 to 2 seconds).
Notice that the trajectory is updated at runtime to satisfy the robot kinematic and dynamic joint limits.
The experiments have been conducted within the results of the following paper:
"Marco Faroni, Manuel Beschi, Antonio Visioli, and Nicola Pedrocchi. A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators. Mechanism and Machine Theory, 156:104152, 2021."
Available at https://www.sciencedirect.com/science...
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