Trajectory Planning of Ammunition Loading Robot Based on Cubic-B Spline

DOI

10.2991/ameii-16.2016.279How to use a DOI?

Keywords

Ammunition Loading Robot, Trajectory Plan, Cubic-B Spline, Obstacle Avoiding

Abstract

To solve the problem of continuous and steady work and obstacles avoidance of ammunition loading robot, the trajectory plan method of ammunition loading robot based on cubic-B spline has been put forward. The paper analyzed the solution of cubic-B spline, finishing the obstacle avoiding trajectory plan of ammunition loading robot with key control points in joint space based on cubic-B spline, and the ammunition loading robot joints' angular displacement, angular velocity and angular acceleration is simulated by dynamic simulation software, the results showing that the method can quickly generate obstacle avoidance trajectory and dynamic characteristics of the trajectory is fine, guaranteeing the ammunition loading robot work smoothly with no impact and avoid obstacles effectively.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yang Li
AU  - Da Xu
AU  - Ye Luo
PY  - 2016/04
DA  - 2016/04
TI  - Trajectory Planning of Ammunition Loading Robot Based on Cubic-B Spline
BT  - Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-16.2016.279
DO  - 10.2991/ameii-16.2016.279
ID  - Li2016/04
ER  -