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An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

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Li, Yuhang, Huang, Tian and Chetwynd, D. G. (2018) An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines. Mechanism and Machine Theory, 126 . pp. 479-490. doi:10.1016/j.mechmachtheory.2018.04.026

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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2018.04...

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Abstract

This paper presents a new, highly effective approach for optimal smooth trajectory planning of high-speed pick-and-place parallel robots. The pick-and-place path is decomposed into two orthogonal coordinate axes in the Cartesian space and quintic B-spline curves are used to generate the motion profile along each axis for achieving C4-continuity. By using symmetrical properties of the geometric path defined, the proposed motion profile becomes essentially dominated by two key factors, representing the ratios of the time intervals for the end-effector to move from the initial point to the adjacent virtual and/or the via-points on the path. These two factors can then be determined by maximizing a weighted sum of two normalized single-objective functions and expressed by curve fitting as functions of the width/height ratio of the pick-and-place path, so allowing them to be stored in a look-up table to enable real-time implementation. Experimental results on a 4-DOF SCARA type parallel robot show that the residual vibration of the end-effector can be substantially reduced thanks to the very continuous and smooth joint torques obtained.

Item Type: Journal Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science > Engineering
Library of Congress Subject Headings (LCSH): Parallel robots -- Control systems -- Mathematical models, Robotics
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Pergamon-Elsevier Science Ltd.
ISSN: 1873-3999
Official Date: August 2018
Dates:
DateEvent
August 2018Published
10 May 2018Available
28 April 2018Accepted
Date of first compliant deposit: 14 June 2018
Volume: 126
Page Range: pp. 479-490
DOI: 10.1016/j.mechmachtheory.2018.04.026
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
RIOXX Funder/Project Grant:
Project/Grant IDRIOXX Funder NameFunder ID
51420105007 [NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51135008[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809

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