In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cub...In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.展开更多
In this paper, using the contracting mapping principle and the monotone iterative method, we consider the existence of solution to the initial value problem of fractional functional differential equations with Riemann...In this paper, using the contracting mapping principle and the monotone iterative method, we consider the existence of solution to the initial value problem of fractional functional differential equations with Riemann-Liouville derivative.展开更多
文摘In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.
基金supported by the NNSF of China(Nos.11301260,61304161 and 11201216)the NSF of Jiangxi Province(Nos.20132BAB211003 and 20132BAB211037)the YFED of Jiangxi Province(No.GJJ13078)
文摘In this paper, using the contracting mapping principle and the monotone iterative method, we consider the existence of solution to the initial value problem of fractional functional differential equations with Riemann-Liouville derivative.
