A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology
Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control s...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/3196983 |
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| _version_ | 1849404375079845888 |
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| author | Zhaoming Liu Nailong Liu Hongwei Wang Shen Tian Ning Bai Feng Zhang Long Cui |
| author_facet | Zhaoming Liu Nailong Liu Hongwei Wang Shen Tian Ning Bai Feng Zhang Long Cui |
| author_sort | Zhaoming Liu |
| collection | DOAJ |
| description | Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments. |
| format | Article |
| id | doaj-art-9503152a7e784154bbbf7b19bbaf4547 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-9503152a7e784154bbbf7b19bbaf45472025-08-20T03:37:01ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/31969833196983A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity TechnologyZhaoming Liu0Nailong Liu1Hongwei Wang2Shen Tian3Ning Bai4Feng Zhang5Long Cui6State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaMotion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.http://dx.doi.org/10.1155/2020/3196983 |
| spellingShingle | Zhaoming Liu Nailong Liu Hongwei Wang Shen Tian Ning Bai Feng Zhang Long Cui A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology Journal of Robotics |
| title | A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology |
| title_full | A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology |
| title_fullStr | A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology |
| title_full_unstemmed | A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology |
| title_short | A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology |
| title_sort | new type of industrial robot trajectory generation component based on motion modularity technology |
| url | http://dx.doi.org/10.1155/2020/3196983 |
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