Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.展开更多
The ecological environment is crucial to human survival,and ecological civilization is essential to human development.Xi Jinping Thought on Ecological Civilization upholds the principle of jointly pursuing the path of...The ecological environment is crucial to human survival,and ecological civilization is essential to human development.Xi Jinping Thought on Ecological Civilization upholds the principle of jointly pursuing the path of global ecological civilization,emphasizing that“in the face of ecological and environmental challenges,humanity forms a community of shared future where all prosper together or suffer together,and no country can remain unaffected alone”.展开更多
基金Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No: RL200002)
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.
文摘The ecological environment is crucial to human survival,and ecological civilization is essential to human development.Xi Jinping Thought on Ecological Civilization upholds the principle of jointly pursuing the path of global ecological civilization,emphasizing that“in the face of ecological and environmental challenges,humanity forms a community of shared future where all prosper together or suffer together,and no country can remain unaffected alone”.
