Jixie chuandong (Jan 2016)
Motion Planning for the Transfer Robot based on ADAMS Simulation Optimization
Abstract
The residual vibration caused by flexible end-effector decreases the positioning accuracy,for transfer robots run with high speed and high acceleration,stop and start frequently. The active and passive control methods and the method of only considering motion curve smoothness are used to reduce vibration,but it has the problems such as time lag,control complexity and material cost limit. The motion of robot is simulated in dynamics method with ADAMS software,the influences of different motion curves on the motion positioning precision are compared and the parameters of S-curve are optimized. The optimized asymmetric motion curve is used to be motion curve to get robot move fast and smoothly. A motion planning method for transfer robot based on dynamics is proposed.
