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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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WRAP-approach-smooth-trajectory-planning-high-speed-pick-and-place-parallel-robots-Huang-2018.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (1041Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2018.04...
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 | |||||||||
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| 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: |
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| 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: |
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