Design and Implementation of Bézier Curve Trajectory Planning in DELTA Parallel Robots

This paper focuses on proposing a real-time path-smoothing method for DELTA parallel robots, which utilizes the 5-th Bezier curve to blend the adjacent linear segments. By using the proposed method, a smoothing trajectory with the continuities of second-order derivative and curvature is generated. Meanwhile, an S-shape acceleration/deceleration (ACC/DEC) process and a predictor-corrector interpolator are employed for reducing the mechanism vibration and velocity fluctuation. Therefore, smoothing transition between vertical and horizontal segments of the operation path can be guaranteed. Experiments are carried out on the self-designed DELTA parallel robot and the results verify the feasibility of the proposed real-time path-smoothing method.