A novel cartesian trajectory planning method by using triple NURBS curves for industrial robots |
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| Affiliation: | 1. Key Laboratory of Road Construction Technology and Equipment of MOE, Chang''an University, Xi''an 710064, China;2. School of Construction Machinery, Chang''an University, Xi''an, 710064, China;3. Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 2E1, Canada;4. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China;1. Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin 150080, China;2. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA;3. Department of Production Engineering, KTH Royal Institute of Technology, 11428 Stockholm, Sweden;1. The State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China;2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China;1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;3. School of Mechanical and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136, China;1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;2. State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;3. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, Hubei, China |
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| Abstract: | This article presents a novel method of robot pose trajectory synchronization planning. First of all, based on triple NURBS curves, a method of describing the position and orientation synchronization of the robot is proposed. Then, through considering geometric and kinematic constraints, especially angular velocity constraint, and employing bidirectional interpolation algorithm, a robot pose trajectory planning approach is developed, which has limited linear jerk, continuous bounded angular velocity and approximate optimal time, and does not need an optimization program. Ultimately, two robot pose paths, blade-shaped curve and fan-shaped curve, are utilized for simulations, and the results indicate that the proposed trajectory planning method can satisfy the given constraint conditions, i.e. the linear jerk is limited and the angular velocity is continuous bounded. The trajectory tracking experiments are further carried out on a 6-DOF industrial robot, and the results show that the proposed planning method can generate smooth trajectories to ensure the stability of the robot motion without impact in practical situations. |
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