Time-optimal trajectory planning for Delta robot based on quintic pythagorean-hodograph curves
Tingting Su; Long Cheng; Yunkuan Wang; Xu Liang; Jun Zheng; Haojian Zhang
发表期刊IEEE Access
2018
卷号6页码:2169-3536
摘要In this paper, a time-optimal trajectory planning method based on quintic PythagoreanHodograph (PH) curves is proposed to realize the smooth and stable high-speed operation of the Delta parallel robot. The trajectory is determined by applying the quintic PH curves to the transition segments in the pick-and-place operation trajectory and the 3-4-5 polynomial motion law to the trajectory. The quintic PH curves are optimized to reduce the cycle time of the pick-and-place operation. In addition, a comparison between different trajectory planning methods has been implemented so as to observe the performance of the obtained results. The MATLAB simulation results reveal that compared with the trajectory planning based on vertical and horizontal motion superposition, the trajectory planning based on quintic PH curves is completed with a shorter motion cycle time and more stable motion performance, with the velocities, accelerations, and jerks in joint space bounded and continuous. Experiments carried out on the prototype also confirm that the trajectory planning based on quintic PH curves has a shorter cycle time, which is of great importance to high-speed operations of Delta parallel robots.
关键词Delta parallel robot pick-and-place operation trajectory planning quintic PythagoreanHodograph curves optimization
DOI10.1109/ACCESS.2018.2831663
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23169
专题复杂系统管理与控制国家重点实验室_先进机器人
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GB/T 7714
Tingting Su,Long Cheng,Yunkuan Wang,et al. Time-optimal trajectory planning for Delta robot based on quintic pythagorean-hodograph curves[J]. IEEE Access,2018,6:2169-3536.
APA Tingting Su,Long Cheng,Yunkuan Wang,Xu Liang,Jun Zheng,&Haojian Zhang.(2018).Time-optimal trajectory planning for Delta robot based on quintic pythagorean-hodograph curves.IEEE Access,6,2169-3536.
MLA Tingting Su,et al."Time-optimal trajectory planning for Delta robot based on quintic pythagorean-hodograph curves".IEEE Access 6(2018):2169-3536.
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