Planning of Movements of Building Robots with Speed Optimization | Zendy

Thomas Böck | Zendy; Alexey Bulgakov | Zendy

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Planning of Movements of Building Robots with Speed Optimization

Author(s) -

Thomas Böck,

Alexey Bulgakov

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0158

Subject(s) - interpolation (computer graphics) , perspective (graphical) , robot , trajectory , computer science , basis (linear algebra) , interval (graph theory) , artificial intelligence , control engineering , mathematics , engineering , motion (physics) , geometry , physics , combinatorics , astronomy

[abstFig src='/00280002/06.jpg' width=""300"" text='Perspective view of robotic mounting system for large-panel building' ]This paper presents a method of planning trajectories for the motions of building robots according to the given points of support on the basis of a two-level interpolation. This method features the calculation of speeds at the intermediate points of the trajectory, while duly accounting for the limitations for controlling moments. The combination of analytical and searching methods of calculation makes it possible to obtain a solution during the interval of control.

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