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Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations
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Huang, T., Wang, P. F., Mei, J. P., Zhao, X. M. and Chetwynd, D. G. (Derek G.), 1948-. (2007) Time minimum trajectory planning of a 2-DOF translational parallel robot for pick-and-place operations. CIRP ANNALS-MANUFACTURING TECHNOLOGY, 56 (1). pp. 365-368. ISSN 0007-8506
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Official URL: http://dx.doi.org/10.1016/j.cirp.2007.05.085
Abstract
This paper deals with the time-minimum trajectory planning of a 2-DOF translational parallel robot named the Diamond for rapid pick-and-place operations. Kinematics and dynamics of the robot are formulated using a parametric function, allowing the representation of the input torque and velocity constraints to be converted to those in terms of the path length. A modified algorithm for achieving the minimized traversal time is proposed by taking into account the path jerk limit. Lithium-ion battery sorting using the Diamond robot is taken as an example to demonstrate the applicability of this approach.
| Item Type: | Journal Article |
|---|---|
| Subjects: | T Technology T Technology > TS Manufactures |
| Journal or Publication Title: | CIRP ANNALS-MANUFACTURING TECHNOLOGY |
| Publisher: | TECHNISCHE RUNDSCHAU EDITION COLIBRI LTD |
| ISSN: | 0007-8506 |
| Date: | 2007 |
| Volume: | 56 |
| Number: | 1 |
| Number of Pages: | 4 |
| Page Range: | pp. 365-368 |
| Identification Number: | 10.1016/j.cirp.2007.05.085 |
| Publication Status: | Published |
| URI: | http://wrap.warwick.ac.uk/id/eprint/31626 |
Data sourced from Thomson Reuters' Web of Knowledge
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