Smooth point-to-point trajectory planning for industrial robots with kinematical constraints based on high-order polynomial curve

2019 ◽  
Vol 139 ◽  
pp. 284-293 ◽  
Author(s):  
He Wang ◽  
Heng Wang ◽  
Jiahai Huang ◽  
Bin Zhao ◽  
Long Quan
Keyword(s):  
Trajectory Planning ◽  
Smooth Point ◽  
High Order ◽  
Industrial Robots ◽  
Polynomial Curve ◽  
Order Polynomial ◽  
Point To Point

Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 539-559 ◽  
Author(s):  
Taha Chettibi
Keyword(s):  
Radial Basis Functions ◽  
Trajectory Planning ◽  
Robot Manipulators ◽  
Smooth Point ◽  
Basis Functions ◽  
Minimum Time ◽  
Planning Problem ◽  
Planning Techniques ◽  
Radial Basis ◽  
Point To Point

SUMMARYThe paper introduces the use of radial basis functions (RBFs) to generate smooth point-to-point joint trajectories for robot manipulators. First, Gaussian RBF interpolation is introduced taking into account boundary conditions. Then, the proposed approach is compared with classical planning techniques based on polynomial and trigonometric models. Also, the trajectory planning problem involving via-points is solved using the proposed RBF interpolation technique. The obtained trajectories are then compared with those synthesized using algebraic and trigonometric splines. Finally, the proposed method is tested for the six-joint PUMA 560 robot in two cases (minimum time and minimum time-jerk) and results are compared with those of other planning techniques. Numerical results demonstrate the advantage of the proposed technique, offering an effective solution to generate trajectories with short execution time and smooth profile.

scholarly journals High-Order Polynomial Fitting Assistance for Fast Double-Peak Finding in Brillouin-Distributed Sensing

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 187
Author(s):  
Marcelo A. Soto ◽  
Alin Jderu ◽  
Dorel Dorobantu ◽  
Marius Enachescu ◽  
Dominik Ziegler
Keyword(s):  
Optical Fibers ◽  
High Order ◽  
Polynomial Fitting ◽  
Gaussian Fitting ◽  
Peak Finding ◽  
Fitting Method ◽  
Fold Reduction ◽  
Order Polynomial ◽  
Fitting In ◽  
Distributed Brillouin Sensor

A high-order polynomial fitting method is proposed to accelerate the computation of double-Gaussian fitting in the retrieval of the Brillouin frequency shifts (BFS) in optical fibers showing two local Brillouin peaks. The method is experimentally validated in a distributed Brillouin sensor under different signal-to noise ratios and realistic spectral scenarios. Results verify that a sixth-order polynomial fitting can provide a reliable initial estimation of the dual local BFS values, which can be subsequently used as initial parameters of a nonlinear double-Gaussian fitting. The method demonstrates a 4.9-fold reduction in the number of iterations required by double-Gaussian fitting and a 3.4-fold improvement in processing time.

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

Polynomial Moving Fitting Method for Edge Identification

2011 ◽  
Vol 308-310 ◽  
pp. 2560-2564 ◽  
Author(s):  
Xiang Rong Yuan
Keyword(s):  
Edge Detection ◽  
Curve Fitting ◽  
Polynomial Function ◽  
High Order ◽  
Polynomial Fitting ◽  
Fitting Method ◽  
Order Polynomial ◽  
Better Than ◽  
Low Order

A moving fitting method for edge detection is proposed in this work. Polynomial function is used for the curve fitting of the column of pixels near the edge. Proposed method is compared with polynomial fitting method without sub-segment. The comparison shows that even with low order polynomial, the effects of moving fitting are significantly better than that with high order polynomial fitting without sub-segment.

Trajectory Planning for Conformal 3D Printing Using Non-Planar Layers

2018 ◽  
Author(s):  
Aniruddha V. Shembekar ◽  
Yeo Jung Yoon ◽  
Alec Kanyuck ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Complex Geometries ◽  
Robot Arm ◽  
Joint Movement ◽  
Tool Orientation ◽  
3D Objects ◽  
Planar Surfaces ◽  
Build Time

Additive manufacturing (AM) technologies have been widely used to fabricate 3D objects quickly and cost-effectively. However, building parts consisting of complex geometries with multiple curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar-layered printing. Using 6-DOF industrial robots for AM overcomes this limitation by allowing materials to deposit on non-planar surfaces with desired tool orientation. In this paper, we present collision-free trajectory planning for printing using non-planar deposition. Trajectory parameters subject to surface curvature are properly controlled to avoid any collision with printing surface. We have implemented our approach by using a 6-DOF robot arm. The complex 3D structures with various curvatures were successfully fabricated, while avoiding any failures in joint movement, holding comparable build time and completing with a satisfactory surface finish.

Minimum cost trajectory planning for industrial robots

2004 ◽  
Vol 23 (4) ◽  
pp. 703-715 ◽  
Author(s):  
T. Chettibi ◽  
H.E. Lehtihet ◽  
M. Haddad ◽  
S. Hanchi
Keyword(s):  
Trajectory Planning ◽  
Minimum Cost ◽  
Industrial Robots
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