Mixed Profile Method of Speed and Location for Robotic Arms Motion used for Precise Positioning
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2018, Vol 9, Issue 5
Abstract
The paper describes a new real-time computation method named Mixt Profile of Speed (MPS), which is used to obtain the value of speed, at every sampling period of time, during the acceleration and deceleration stage, whereas the motion has three stages: 1) acceleration, 2) motion with imposed constant speed, and 3) deceleration. The method will determinate the location of a robotic arm for every sampling period of time. The originality of this new computation method refers to the deceleration stage; it determines an accurate positioning at the end of the motion in a well determinate interval of time. During the forced constant motion stage, the trajectory is imposed and it is linear or circular. The ADNIA algorithm (numerical differential analysis interpolation algorithm) can be implemented at this stage (during the motion with imposed constant speed of the robotic arm) in order to ensure the maximum precision of the computation for the waypoints Cartesian coordinates.
Authors and Affiliations
Liliana Marilena Matica, Cornelia Gyorödi, Helga Silaghi, Andrei Silaghi
Keywords
Related Articles
- EP ID EP309451
- DOI 10.14569/IJACSA.2018.090504
- Views 102
- Downloads 0
Ant Colony Optimization of Interval Type-2 Fuzzy C-Means with Subtractive Clustering and Multi-Round Sampling for Large Data
Fuzzy C-Means (FCM) is widely accepted as a clustering technique. However, it cannot often manage different uncertainties associated with data. Interval Type-2 Fuzzy C-Means (IT2FCM) is an improvement over FCM since it c...
Monte Carlo Ray Tracing Based Sensitivity Analysis of the Atmospheric and the Ocean Parameters on Top of the Atmosphere Radiance
Monte Carlo Ray Tracing: MCRT based sensitivity analysis of the geophysical parameters (the atmosphere and the ocean) on Top of the Atmosphere: TOA radiance in visible to near infrared wavelength regions is conducted. As...
Key Schedule Algorithm using 3-Dimensional Hybrid Cubes for Block Cipher
A key scheduling algorithm is the mechanism that generates and schedules all session-keys for the encryption and decryption process. The key space of conventional key schedule algorithm using the 2D hybrid cubes is not e...
Minimization of Information Asymmetry Interference using Partially Overlapping Channel Allocation in Wireless Mesh Networks
Wireless Mesh Network (WMN) is a developing technology that has a great impact on the improvement of the performance, flexibility and reliability over the traditional wireless networks. Using multi-hop communication faci...
Conceptual Model for Measuring Transparency of Inter-Organizational Information Systems in Supply Chain: Case Study of Cosmetic Industry
The role of information systems has changed effectively in organizational performance, and today, information systems are creating value for organizations. This study aims to provide a conceptual model for measuring the...