Time-Optimal Trajectory Planning for Industrial Robot

被引：0
|
作者：
Chen Weihua [1 ]
Zhang Tie [1 ]
Zou Yanbiao [1 ]
机构：
[1] S China Univ Technol, Sch Mech & Automot Engn, Robot Lab, Guangzhou 510640, Guangdong, Peoples R China
来源：
ISTM/2009: 8TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-6 | 2009年
关键词：
industrial robot; trajectory planning; time optimization; piecewise cubic polynomial; DYNAMIC-PROGRAMMING APPROACH; MANIPULATORS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：2847 / 2850
页数：4
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