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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Gang Liu,Chao Yun.A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators[J].Journal of Harbin Institute Of Technology(New Series),2016,23(5):23-31.DOI:10.11916/j.issn.1005-9113.2016.05.004.
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A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators
Author NameAffiliation
Gang Liu (Robotics Institute,Beihang University, Beijing 100191, China) 
Chao Yun (Robotics Institute,Beihang University, Beijing 100191, China) 
Abstract:
In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each interval between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.
Key words:  trajectory planning  cubic spline  kinematic constraints  interval analysis  time optimal  smooth technique
DOI：10.11916/j.issn.1005-9113.2016.05.004
Clc Number:TP241.2
Fund:

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