Trajectory Planning of High Precision Collaborative Robots

• 作者: Jiaxing Zhou Tuanjie Li Yan Zhang
• 来源期刊: 工程与科学中的计算机建模(英文)
• 学科: 工学
• 关键词: COLLABORATIVE robot HIGH efficiency HIGH precision velocity LOOK-AHEAD control trajectory planning quintic B-SPLINE
• 年，卷（期）: 2019,（3）
• 页码范围: 583-598
• 页数: 16页
• 分类号: TP2

摘要

In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.