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research-article

Trajectory Planning and Control of Manipulator Based on B-spline Curve

Authors:

Rongcheng Ding,

Yufeng XiuAuthors Info & Claims

ICCIR '22: Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics

Pages 431 - 436

https://doi.org/10.1145/3548608.3559236

Published: 14 October 2022 Publication History

Abstract

In order to improve the stability and efficiency of excavator manipulator, a trajectory planning method is proposed. Firstly, the Denavit-Hartenberg (D-H) method was used to establish the kinematic coordinate system of the manipulator, then the forward and inverse kinematics analysis is carried out, and the kinematics model of the manipulator is obtained. Trajectory planning of manipulator using improved B-spline curve algorithm in joint space. At this point, the robot arm can automatically run from the starting point to the ending point according to the pre-set, to achieve the goal of automatic control. The simulation results show that using b-spline curve algorithm to control the manipulator can make all joints run synchronously, continuously and smoothly.

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Cited By

Huang LFeng DHuang DDong XHuang D(2023)Research on Trajectory Planning for multiple straight lines in Cartesian Space2023 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA57826.2023.10215821(942-947)Online publication date: 6-Aug-2023
https://doi.org/10.1109/ICMA57826.2023.10215821
Yang TTian YWang QWang YJiang LLi G(2023)Kinematics Analysis and Trajectory Planning of UR5 Robot2023 2nd International Conference on Automation, Robotics and Computer Engineering (ICARCE)10.1109/ICARCE59252.2024.10492518(1-4)Online publication date: 14-Dec-2023
https://doi.org/10.1109/ICARCE59252.2024.10492518

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cover image ACM Other conferences

ICCIR '22: Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics

June 2022

905 pages

ISBN:9781450397179

DOI:10.1145/3548608

Copyright © 2022 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 14 October 2022

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ICCIR 2022

ICCIR 2022: 2022 2nd International Conference on Control and Intelligent Robot

June 24 - 26, 2022

Nanjing, China

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Overall Acceptance Rate 131 of 239 submissions, 55%

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Cited By

Huang LFeng DHuang DDong XHuang D(2023)Research on Trajectory Planning for multiple straight lines in Cartesian Space2023 IEEE International Conference on Mechatronics and Automation (ICMA)10.1109/ICMA57826.2023.10215821(942-947)Online publication date: 6-Aug-2023
https://doi.org/10.1109/ICMA57826.2023.10215821
Yang TTian YWang QWang YJiang LLi G(2023)Kinematics Analysis and Trajectory Planning of UR5 Robot2023 2nd International Conference on Automation, Robotics and Computer Engineering (ICARCE)10.1109/ICARCE59252.2024.10492518(1-4)Online publication date: 14-Dec-2023
https://doi.org/10.1109/ICARCE59252.2024.10492518

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