An adaptive look-ahead position and orientation interpolation algorithm for multi-path segments smooth transition

被引：0
|
作者：
Wang B.-R. [1 ]
Wang T. [1 ,2 ]
Li Z.-G. [2 ]
Chen L. [2 ]
Chen D.-J. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou
[2] Hangzhou SIASUN Robot & Automation Co., Ltd, Hangzhou
来源：
Kongzhi yu Juece/Control and Decision | 2019年 / 34卷 / 06期
关键词：
Adaptive look-ahead; Asymmetrical S-curve; Industrial robot; Path smoothing transition; Position and orientation interpolation; Trajectory planning;
D O I：
10.13195/j.kzyjc.2017.1594
中图分类号：
学科分类号：
摘要：
The velocity of industrial robots can be improved by multi-path smooth transition of task space. Under the path length constraint of the asymmetric S-curve acceleration/deceleration control, known path tansition points with non-zero velocity and the adjustable radius parameters are used as a reference to obtain optimized transition velocity between multi-path segments according to the changes of adjacent trajectory segments length, and arc smooth transition is used between adjacent path segments. The asymmetric S-curve acceleration/deceleration control is adopted for complete path segments. In order to improve the versatility of the algorithm, the velocity functions are simplified according to the characteristics of the S-curve acceleration/deceleration zone function. Experiments are carried out on the real-time control system platform of 6 degrees of freedom industrial robots. The results show that the efficiency of the algorithm can be improved by more than 22.03 % compared with the traditional acceleration/deceleration control algorithm, and smooth transition of velocity and modification of trajectory between the multi-path segments can be realize. © 2019, Editorial Office of Control and Decision. All right reserved.
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页码：1211 / 1218
页数：7
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