Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk

This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing robot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of the acceleration, and the integral of the jerk, all of which are obtained through the weighted coefficient method. At hree-dimensional kinematics model of the glass-handing robot is then established and nonuniform fifth-order B-splines are used to interpolate its path points. The acceleration and jerk are expressed as functions of time through mathematical simulation. Simulation results show that the designed method for robot trajectory planning not only improves the working efficiency of the glass-handing robot but also ensures that it runs smoothly.

[1]  Byung Kook Kim,et al.  Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots , 2010, ICCAS 2010.

[2]  M. Diehl,et al.  Time-energy optimal path tracking for robots: a numerically efficient optimization approach , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[3]  A. Piazzi,et al.  Global minimum-time trajectory planning of mechanical manipulators using interval analysis , 1998 .

[4]  Dan Simon,et al.  A trigonometric trajectory generator for robotic arms , 1993 .

[5]  N. van de Wouw,et al.  Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints , 2007 .

[6]  Arafat Hossain,et al.  Autonomous robot path planning in dynamic environment using a new optimization technique inspired by Bacterial Foraging technique , 2014 .

[7]  Bing Li,et al.  A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path , 2011 .

[8]  E. Croft,et al.  Smooth and time-optimal trajectory planning for industrial manipulators along specified paths , 2000 .

[9]  Cesare Rossi,et al.  Robot trajectory planning by assigning positions and tangential velocities , 2013 .

[10]  Pascal Ray,et al.  Corner optimization for pocket machining , 2004 .

[11]  R. Saravanan,et al.  Evolutionary optimal trajectory planning for industrial robot with payload constraints , 2008 .

[12]  Alessandro Gasparetto,et al.  Optimal trajectory planning for industrial robots , 2010, Adv. Eng. Softw..

[13]  Yury Stepanenko,et al.  Iterative dynamic programming: an approach to minimum energy trajectory planning for robotic manipulators , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[14]  Philippe Poignet,et al.  On the Design of a Fast Parallel Robot Based on Its Dynamic Model , 2006, ISER.

[15]  C. Lin,et al.  Formulation and optimization of cubic polynomial joint trajectories for industrial robots , 1983 .