CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves
Su, Tingting1,2; Cheng, Long2,3; Wang, Yunkuan1,2; Liang, Xu2,3; Zheng, Jun1; Zhang, Haojian1,2
Source PublicationIEEE ACCESS
ISSN2169-3536
2018
Volume6Pages:28530-28539
Corresponding AuthorCheng, Long(long.cheng@ia.ac.cn)
AbstractIn this paper, a time-optimal trajectory planning method based on quintic Pythagorean-Hodograph (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.
KeywordDelta parallel robot pick-and-place operation trajectory planning quintic Pythagorean-Hodograph curves optimization
DOI10.1109/ACCESS.2018.2831663
WOS KeywordPARALLEL ROBOT ; PH CURVES ; MANIPULATORS ; GENERATION ; ALGORITHM ; MOTIONS ; WORKSPACE ; PATH ; UAVS
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61633016] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; Major Science and Technology Project of Henan Province[161100210300]
Funding OrganizationNational Natural Science Foundation of China ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation ; Major Science and Technology Project of Henan Province
WOS Research AreaComputer Science ; Engineering ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000435336000001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23169
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorCheng, Long
Affiliation1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Su, Tingting,Cheng, Long,Wang, Yunkuan,et al. Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves[J]. IEEE ACCESS,2018,6:28530-28539.
APA Su, Tingting,Cheng, Long,Wang, Yunkuan,Liang, Xu,Zheng, Jun,&Zhang, Haojian.(2018).Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves.IEEE ACCESS,6,28530-28539.
MLA Su, Tingting,et al."Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves".IEEE ACCESS 6(2018):28530-28539.
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