AN ON-LINE ROBOT TRAJECTORY PLANNING ALGORITHM IN JOINT SPACE WITH CONTINUOUS ACCELERATIONS

摘要：

This paper presents a novel trajectory planning method in robot joint space, which poses several good properties for the robot motion control. Firstly, it provides the continuity of accelerations on all segments of the planned trajectory by combining quintic and quartic polynomials. Secondly, it can deal with path points with or without velocities and accelerations, which may be very useful, especially when robot is at singular configurations. Finally, it can be applied to both on-line tasks and off-line tasks by looking ahead one or two path points. Simulation results of this method and other trajectory planning methods are also presented for the purpose of comparison.

关键词： robot trajectory planning joint space acceleration.

作者: Fengshui Jing Yuhan Qi Yanhui Qiang Chao Yang

作者单位: Key Laboratory of Complex Systems and Intelligence ScienceInstitute of Automation, Chinese Academy o Key Laboratory of Complex Systems and Intelligence Science Institute of Automation, Chinese Academy

会议类型: 国际会议

会议名称: The International Conference on Advanced Technology of Design and Manufacture 2010(2010先进设计与制造技术国际研讨会)

会议地点: 北京

会议语种:英文

页码: 372-377

在线出版日期: 2010-11-23（万方平台首次上网日期，不代表论文的发表时间）