Jerk-Bounded and -Continuous Trajectory Planning for a 6-DOF Serial Robot Manipulator with Revolute Joints
This paper deals with the trajectory planning problem of a 6 DOF serial robot manipulator to achieve a high smooth and efficiency tracking performance,while keeping the angle jerk of each robot joint bounded and continuous.A novel approach combining the acceleration/deceleration (acc/dec)strategy in Cartesian space and multi-degree B-spline interpolation in joint space is proposed.Specially,the efficiency of the motion control is improved by using S-shape acc/dec method,and the boundedness and continuity of velocity,acceleration and jerk for each robot joint is guaranteed by applying the septuple B-spline interpolation in the joint space.Finally,experimental results verify the effectiveness of the proposed method.
LIU Huashan LAI Xiaobo ZHU Shiqiang LIAO Xiaofei
College of Information Science and Technology,Donghua University,Shanghai 201620,P.R.China College of Information Technology,Zhejiang Chinese Medical University,Hangzhou 310053,P.R.China The State Key Lab of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,P.R.Ch
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）