Aggressive trajectory generator for a robot ping-pong player
- 1 February 1989
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems Magazine
- Vol. 9 (2) , 15-21
- https://doi.org/10.1109/37.16766
Abstract
A trajectory generation and tracking system designed to operate in a very dynamic environment is described. The system drives a PUMA 260 which is part of a functioning robot ping-pong player. The goal is to achieve predictable, reliable, high-performance motions at the envelope of robot capabilities. The task is sensor-driven, each motion is unique, and motions have to be changed while they are in progress. The author describes some of the requirements in detail, compares alternative high-performance trajectory types, describes the properties of the quintic polynomials used, discusses how to determine if a trajectory is feasible, and then outlines the implementation and its performance.Keywords
This publication has 2 references indexed in Scilit:
- Minimum ratio-locked profile times for robot trajectoriesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Automatic generation of the dynamic equations of the robot manipulators using a LISP programPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986