Time-Optimal Trajectory Planning for Industrial Robot
Using piecewise cubic polynomial, a new time-optimal trajectory planning for industrial robot is studied. In order to get optimal trajectory, acceleration curve here is continuous and the kinematic constraints on the robot motion are taken into account. The main advantage of the piecewise cubic polynomial is to let the maximum absolute values of velocity and jerk be equal to their upper bounds separately, such will minimize the total execution time. The algorithm has also compared with another important trajectory planning techniques (i.e. a 3-4-5 interpolating polynomial, a 4-5-6-7 interpolating polynomial and cycloidal motion). The results show that the total execution time in this new algorithm smaller.
industrial robot trajectory planning time optimization piecewise cubic polynomial
CHEN Weihua ZHANG Tie ZOU Yanbiao
Robotics Laboratory, School of Mechanical & Automotive Engineering (South China University of Techno Robotics Laboratory, School of Mechanical & Automotive Engineering (South China University of Techno
国际会议
第八届国际测试技术研讨会(8th International Symposium on Test and Measurement)
重庆
英文
2847-2850
2009-08-01（万方平台首次上网日期，不代表论文的发表时间）