A bio-inspired approach for online trajectory generation of industrial robots

Authors:
Yadollah Farzaneh;Alireza Akbarzadeh
Affiliations:
Center for Applied Research on Soft Computing and Intelligent Systems (CARSIS), Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran;Center for Applied Research on Soft Computing and Intelligent Systems (CARSIS), Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran
Venue:
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Year:
2012

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Abstract

This paper presents a bio-inspired approach for generating online rhythmic point-to-point motions commonly used by industrial robots. Rhythmic motions in biological systems are produced with neural circuits called central pattern generators (CPGs). A modified form of CPG network is designed and used to generate the rhythmic motion. A pick and place task is considered an industrial application of the proposed approach. Several pick and place applications are considered. It is demonstrated that with CPGs, online changes of rhythmic trajectories are successfully generated. The proposed approach is novel, enables online trajectory generation, improves machine life and yields excellent coordinated natural motion for the robotic systems.