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Optimal point-to-point motion planning of heavy-duty industry robot was critical between two points in the prescribed time. The dynamic modeling was derived though Lagrange formulation and Spong model; then based on the Pontryagin's minimum principle, optimal point-to-point motion planning problem was constructed considering the gravity effect. Indirect method integration with homotopy mapping was...
Orientation interpolation has a great effect on the performance of industrial robot. Considering the singularity and unnatural rotation which are drawbacks of Euler angles in orientation interpolation of industrial robot, a novel interpolation method which is based on unit quaternion was presented. To achieve high order smoothness of orientation movement, sine-jerk trajectory planning combined with...
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