Optimize design and trajectory planning for light grasping robot
GUO Sheng
YU Zhiyuan
QU Haibo
Abstract：The paper does the research of optimize design and trajectory planning on light grasping robot.The optimization objective is to minimize the moment of inertia that the arm exerts on every joint when all of the arms rotate to a line.The optimal length of each arms of the grasping robot could be obtained.The grasping ability and grasping stability of the grasping robot are optimized.The trajectory planning has been done in the circumstances of movement of point-to-point and movement with middle point.The functions of angular velocity and angular acceleration could be achieved.The correctness of the trajectory planning has been validated with the Matlab Robotics Toolbox.
Keywords：grasping robotoptimizationtrajectory planningMatlab Robotics Toolbox
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 101-106 )