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- W4366146989 abstract "The use of two-stage positioning systems is becoming widespread in the manufacturing industry, as they allow shortening the completion of tasks while maintaining high positioning accuracy. This paper proposes a path planning algorithm which splits the movements to be executed by the two actuators, in such a way to obtain a beneficial effect on the Macro actuator motion, in terms of smoothness and limited vibration onset. The algorithm takes advantage of the spline properties to generate a smooth geometric path and to easily account for micro actuator limited range of motion. Compared to other methods described in literature, the proposed solution only needs a sequence of end-effector poses (not related by a time law) to generate a proper sequence of poses in the joint space. The proposed solution is carried out by solving a linearly constrained quadratic programming problem." @default.
- W4366146989 created "2023-04-19" @default.
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- W4366146989 date "2023-03-15" @default.
- W4366146989 modified "2023-09-27" @default.
- W4366146989 title "Minimum curvature path planning for a dual stage positioning system<sup>*</sup>" @default.
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- W4366146989 doi "https://doi.org/10.1109/icm54990.2023.10101873" @default.
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