Name
Title | ||
|---|---|---|
An analytical C3 continuous tool path corner smoothing algorithm for 6R robot manipulator |
Abstract | ||
|---|---|---|
•Tool tip position and tool orientation splines are constructed under constraints of the maximum deviation error tolerances.•The tool orientation and tool tip position are synchronized to the tool tip displacement with C3 continuity.•Control points of the locally inserted micro-splines are all evaluated analytically without any iterative calculations.•The proposed corner smoothing algorithm achieves smoother and lower jerks than C2 continuous corner smoothing algorithm.•Motion commands of the developed algorithm are tracked continuously with lower tracking errors than C2 continuous algorithm. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1016/j.rcim.2020.101947 | Robotics and Computer-Integrated Manufacturing |
Keywords | DocType | Volume |
Tool path,Corner smoothing,Robot manipulator,Jerk continuous,Analytical | Journal | 64 |
ISSN | Citations | PageRank |
0736-5845 | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jixiang Yang | 1 | 0 | 0.68 |
| Dingwei Li | 2 | 0 | 0.34 |
| Congcong Ye | 3 | 0 | 0.34 |
| Han Ding | 4 | 499 | 78.16 |