• Engineering
  • Published 2012

Trajectory planning and simulation for valve electric upsetting forming robot

@inproceedings{Weiguang2012TrajectoryPA,
  title={Trajectory planning and simulation for valve electric upsetting forming robot},
  author={Li Wei-guang},
  year={2012}
}
A mathematical model for valve electric upsetting forming robot is established with D-H method,and a forward-inverse kinematic solution has been done.Then a robot's motion path is planned based on the actual working requirement to obtain the motion key point by site teaching.Meanwhile a study for the trajectory planning in the joint space with B-spine curve was made to obtain a function expression for trajectory movement of joint space,and a simulation for the planning trajectory is carried out… CONTINUE READING