Knowledge Commons of Institute of Automation,CAS
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 | |
发表期刊 | IEEE ACCESS |
ISSN | 2169-3536 |
2018 | |
卷号 | 6期号:无页码:28530-28539 |
摘要 | In 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. |
关键词 | Delta parallel robot pick-and-place operation trajectory planning quintic Pythagorean-Hodograph curves optimization |
DOI | 10.1109/ACCESS.2018.2831663 |
关键词[WOS] | PARALLEL ROBOT ; PH CURVES ; MANIPULATORS ; GENERATION ; ALGORITHM ; MOTIONS ; WORKSPACE ; PATH ; UAVS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61633016] ; Beijing Municipal Natural Science Foundation[4162066] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Major Science and Technology Project of Henan Province[161100210300] ; Major Science and Technology Project of Henan Province[161100210300] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; National Natural Science Foundation of China[61633016] |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
WOS类目 | Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications |
WOS记录号 | WOS:000435336000001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
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 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cheng, Long |
作者单位 | 1.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 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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(无):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(无),28530-28539. |
MLA | Su, Tingting,et al."Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves".IEEE ACCESS 6.无(2018):28530-28539. |
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