Path planning and dynamic simulation of weightlifting robot manipulator

Pi-Ying Cheng*, Chun Yen Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The current paper proposes a novel algorithm to construct an efficient path for each joint of the weightlifting robot based on the proposed "momentum method". The Dijkstra Algorithm, a typical searching method in Artificial Intelligence, is adopted to obtain the shortest path. A novel idea is proposed to improve the efficiency of Dijkstra Algorithm so that it took less time to search for solutions with high accuracy. In order to obtain a high efficiency computing processes in dynamics, we formulize the optimal path with the discrete grid points based on the B-spline theory, so that we can calculate the angular velocity, angular acceleration and moment more precisely. The path planning dynamic model of three joints weightlifting robot is presented. The results of simulations demonstrated the effective and practical work with the proposed method in this paper.

Original languageEnglish
Title of host publication2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007
DOIs
StatePublished - 1 Dec 2007
Event2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007 - Hsinchu, Taiwan
Duration: 9 Dec 200711 Dec 2007

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

Conference2007 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2007
CountryTaiwan
CityHsinchu
Period9/12/0711/12/07

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