Omni-directional opera robot motion planning based on wavelet
Liu Peng-yu, Yongyi He · 2010
This paper presents a novel motion planning method based on wavelet sampling theorem and kinematics model of omni-directional opera robot. According to the method, the speed of each driving motor can be derived out in an easy way. However, the speeds at all the key points along the trajectory are the important parameters for the PLC control system of opera robot. Through experiment, the opera robot can be driven to move smoothly along the expected trajectory by the light of the method.