A motion assignment strategy based on macro-micro robotic system for enhancement of kinematic performance

A motion assignment strategy based on macro-micro robotic system for enhancement of kinematic performance

In this paper, a motion assignment method based on a macro-micro robotic polishing system is proposed to enhance kinematic performance. Combined with workspace analysis and trajectory constraints of the micro, a search set is obtained for motion assignment. The optimal solution will be generated by...

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Bibliographic Details
Published in:2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 174 - 179
Main Authors: Zhou, Yaohua, Chen, Chin-Yin, Zhu, Renfeng, Tang, Ye, Yang, Guilin, Wang, Weijun, Li, Yaonan
Format: Conference Proceeding
Language:English
Published: IEEE 27-12-2021
Subjects:
Biomimetics
Conferences
Kinematics
Simulation
Stability analysis
Task analysis
Trajectory
Online Access:Get full text
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Description
Summary:In this paper, a motion assignment method based on a macro-micro robotic polishing system is proposed to enhance kinematic performance. Combined with workspace analysis and trajectory constraints of the micro, a search set is obtained for motion assignment. The optimal solution will be generated by traversing the search set. Finally, a simulation based on polishing tasks is performed and the effectiveness (about 25% enhancement) and stability of the proposed strategy is demonstrated.
DOI:10.1109/ROBIO54168.2021.9739649