(精编)【机器人系列】Path Control in Robotics.pptVIP

Solving for tb: Note: Acceleration is subject to above constraint Applying it to the Coffee ‘Bot Acceleration constraint: Blend time: Applying it to the Coffee ‘Bot tlinear=.5 – 2*0.159 = 0.181 s Linear Velocity: Positions: By tb, Joint moves: (27.89/2)*.159 = 2.222 in During linear velocity joint moves: 0.181*27.89 = 5.055 in (thus the pos = 7.277”) During deceleration joint travels 2.222 in Adding them gives full travel distance: 2.222 + 5.055 + 2.222 in ? 9.5in  Plotting the Path trajectory: Notice: the accelerator is ‘off’ during the linear travel segment The 2 Previous Path Control Methods focused on Start/Stopping Approaches What can we do if we desire to travel by ‘G12’ methods – continuing along a path w/o stopping? Here we will focus on a method called ‘dog-tracking’ after the lead and follow techniques employed in dog racing Essentially we would have a situation where the path is laid out (as a series of Via Points) and the joints smoothly maneuver through and between them Craig’s Dog Tracking Method Craig’s Dog Tracking Method Upon Examination of the motion, we find that there are three ‘regimes’ in the motion These are: Start up regime Intermediate regimes Stopping regime Starting and Stopping are similar to LSPB in the way they compute blend time and acceleration During an Intermediate regime we compute acceleration by comparing incoming and outgoing velocities about each point Path Control in Robotics ME 4135 Lecture series 8 Richard R. Lindeke, Ph. D. Motion Types of Interest Point – to – Point Motion: All Axes start and end simultaneously All Geometry is computed for targets and relevant Joint changes which are then forced to be followed during program execution Path or Trajectory Controller Motion Here the motion is performed through a time sequence of intermediate configurations computed ahead of time (like above but without stop-start operation) or in real time Paths are “Space Curves” for the n-Frame to follow This motion is a cont