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• W2913391771 abstract "Trajectory planning and an efficient control scheme play a crucial role in improving the performance of pick-and-place robots. This paper introduces a novel method of trajectory planning with cycle time and path constraints. Assuming that a smooth trajectory is given, to be followed within a prescribed cycle time, the newly proposed method of trajectory planning removes the torque peaks of the actuators by a suitable scheduling of the velocity of the moving plate. Since pick-and-place robots are usually expected to meet the end poses in a certain time span, while disregarding the intermediate poses, the velocity can be tuned properly around the critical points of the trajectory by means of a time-scaling function. Moreover, the authors report the formulation of a linear quadratic regulator (LQR) controller with normalized variables to be used in conjunction with our trajectory-tracking control scheme for an in-house-developed Schönflies-motion generator. This parallel robot offers a functionally symmetric, single-loop architecture, with an isostatic kinematic chain, and virtually unlimited rotatability of its gripper. A comparison between two actuation systems developed by the authors is conducted via simulation results." @default.
• W2913391771 created "2019-02-21" @default.
• W2913391771 creator A5050152352 @default.
• W2913391771 creator A5054921295 @default.
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• W2913391771 date "2019-04-08" @default.
• W2913391771 modified "2023-10-10" @default.
• W2913391771 title "Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots" @default.
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• W2913391771 doi "https://doi.org/10.1115/1.4042631" @default.
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