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Trajectory Planning for Automatic Machines and Robots

  • Luigi Biagiotti
  • Claudio Melchiorri

Table of contents

  1. Front Matter
    Pages I-XIII
  2. Trajectory Planning

    1. Front Matter
      Pages 1-1
    2. Luigi Biagiotti, Claudio Melchiorri
      Pages 1-12
  3. Basic Motion Profiles

    1. Front Matter
      Pages 13-13
    2. Luigi Biagiotti, Claudio Melchiorri
      Pages 15-57
    3. Luigi Biagiotti, Claudio Melchiorri
      Pages 59-150
    4. Luigi Biagiotti, Claudio Melchiorri
      Pages 151-219
  4. Elaboration and Analysis of Trajectories

    1. Front Matter
      Pages 221-221
    2. Luigi Biagiotti, Claudio Melchiorri
      Pages 223-244
    3. Luigi Biagiotti, Claudio Melchiorri
      Pages 245-264
    4. Luigi Biagiotti, Claudio Melchiorri
      Pages 265-338
  5. Trajectories in the Operational Space

    1. Front Matter
      Pages 339-339
    2. Luigi Biagiotti, Claudio Melchiorri
      Pages 341-414
    3. Luigi Biagiotti, Claudio Melchiorri
      Pages 415-453
  6. Appendices

    1. Front Matter
      Pages 455-455
    2. Luigi Biagiotti, Claudio Melchiorri
      Pages 457-466
    3. Luigi Biagiotti, Claudio Melchiorri
      Pages 467-487
    4. Luigi Biagiotti, Claudio Melchiorri
      Pages 489-493
    5. Luigi Biagiotti, Claudio Melchiorri
      Pages 495-501
  7. Back Matter
    Pages 503-514

About this book

Introduction

This book deals with the problems related to planning motion laws and trajectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired effects such as vibrations or even damages on the mechanical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “electronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”.

The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and efforts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the different techniques available for trajectory planning, besides the mathematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under different points of view, and general considerations related to their practical use are reported.

Keywords

Automatic Machines Motion Control Robots Tracking Trajectory Planning actuator robot

Authors and affiliations

  • Luigi Biagiotti
    • 1
  • Claudio Melchiorri
    • 2
  1. 1.DII, University of Modena and Regio EmiliaItaly
  2. 2.DEIS, University of BolognaItaly

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-540-85629-0
  • Copyright Information Springer Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-85628-3
  • Online ISBN 978-3-540-85629-0
  • Buy this book on publisher's site