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Cluster Computing

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01-03-2018

Velocity optimization algorithm of 4-DOF robot end-effectors

Authors: Hua Zhang, Wenqi Lu, Chuanyu Wu, Kong Tu

Published in: Cluster Computing | Special Issue 3/2019

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Abstract

To solve the problem velocity control for robot end-effectors trajectory planning in the Cartesian space, this paper studied the algorithm of the linear acceleration and deceleration. Moreover, it proposed a velocity optimization algorithm based on the displacement equivalent. Adjusting the speed size of the acceleration and deceleration, the algorithm reduced the velocity mutation due to the discretized interpolation equation. The algorithm then was applied to the linear and circular interpolation of 4-degree of freedom industrial robots, establishing the forward and inverse kinematics equation based on Denavit–Hartenberg (D–H) coordinate system with implementing the optimization algorithm in the motion control system. Next, the velocity of the end-effectors was tested using the acceleration sensor and data logger. The results of simulation and experiment showed that velocity optimization algorithm eliminated the acceleration point and decreased the deceleration point on the velocity mutation.

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Title: Velocity optimization algorithm of 4-DOF robot end-effectors
Authors: Hua Zhang
Wenqi Lu
Chuanyu Wu
Kong Tu
Publication date: 01-03-2018
Publisher: Springer US
Published in: Cluster Computing / Issue Special Issue 3/2019
Print ISSN: 1386-7857
Electronic ISSN: 1573-7543
DOI: https://doi.org/10.1007/s10586-018-2037-y

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