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Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint | |
Liang, Xu1,2![]() ![]() | |
发表期刊 | APPLIED SCIENCES-BASEL
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2019-11-01 | |
卷号 | 9期号:21页码:14 |
摘要 | A 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. |
关键词 | delta robot trajectory planning geometrical constraint PH curves |
DOI | 10.3390/app9214491 |
关键词[WOS] | DIMENSIONAL SYNTHESIS ; PARALLEL MANIPULATOR ; OPTIMIZATION ; DESIGN ; CONSTRUCTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] ; Nature Science Foundation of Beijing[L160001] ; National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] ; Nature Science Foundation of Beijing[L160001] |
WOS研究方向 | Chemistry ; Materials Science ; Physics |
WOS类目 | Chemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied |
WOS记录号 | WOS:000498058600016 |
出版者 | MDPI |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/29342 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Su, Tingting |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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