Abstract
This paper mainly deals with the motion planning of high speed industrial Delta robots in PPO. The elliptical trajectory with modified sine motion profile has been adopted. Since the modified sine motion profile is characterized by only two parameters, PPO motion planning is become more easily. Experiments were done on a prototype of Delta robot. Comparing with rectangular PPO path with s-curve velocity profile, this method can guarantee the smoothness of torques and the less of error. Results verified that the motion planning had a better performance in terms of the quality of the motion.
This work was supported by the National Science Foundation of China (No. 51475107), The Shenzhen Basic Research Project (No. JCYJ20130329153408574, JCYJ20140417172620449).
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Acknowledgments
The authors would like to acknowledge Shenzhen Engineering Laboratory of Performance Robots at Digital Stage (SDRC No. [2014]1507).
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Huang, R., Zhang, Y., Lou, Y. (2016). The Elliptical Trajectory with Modified Sine Motion Profile for Delta Robot. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_35
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DOI: https://doi.org/10.1007/978-3-319-23327-7_35
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