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Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint
Liang, Xu1,2; Su, Tingting3
Source PublicationAPPLIED SCIENCES-BASEL
2019-11-01
Volume9Issue:21Pages:14
Corresponding AuthorSu, Tingting(sutingting@ncut.edu.cn)
AbstractA new trajectory planning approach on the basis of the quintic Pythagorean-Hodograph (PH) curve is presented and applied to Delta robot for implementing pick-and-place operation (PPO). To satisfy a prescribed geometrical constraint, which indicates the distance between the transition segment curve and right angle of PPO trajectory is no greater than a prescribed value, the quintic PH curve is used to produce a connection segment path for collision avoidance. The relationship between the PH curve and constraint is analyzed, based on which PH curve is calculated simply. Afterwards, the trajectory is planned in different phases with different motion laws, i.e. polynomial motion laws and PH curve parameter-dependent motion laws, to obtain a smooth performance both in Cartesian and joint space. The relationship between the PH curve and constraint is also used to improve the efficiency of calculation, and the trajectory symmetry is used to reduce calculation time by direct symmetric transformation. Thus, real-time performance is improved. The results of simulations and experiments indicate that the approach in this paper can provide smooth motion and meet the real-time requirement under the prescribed geometrical constraint.
Keyworddelta robot trajectory planning geometrical constraint PH curves
DOI10.3390/app9214491
WOS KeywordDIMENSIONAL SYNTHESIS ; PARALLEL MANIPULATOR ; OPTIMIZATION ; DESIGN ; CONSTRUCTION
Indexed BySCI
Language英语
Funding ProjectNational Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[L160001] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] ; National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[L160001] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101]
Funding OrganizationNational Nature Science Foundation of China ; Nature Science Foundation of Beijing ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems
WOS Research AreaChemistry ; Materials Science ; Physics
WOS SubjectChemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS IDWOS:000498058600016
PublisherMDPI
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/29342
Collection中国科学院自动化研究所
Corresponding AuthorSu, Tingting
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liang, Xu,Su, Tingting. Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint[J]. APPLIED SCIENCES-BASEL,2019,9(21):14.
APA Liang, Xu,&Su, Tingting.(2019).Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint.APPLIED SCIENCES-BASEL,9(21),14.
MLA Liang, Xu,et al."Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint".APPLIED SCIENCES-BASEL 9.21(2019):14.
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