An on-line robot trajectory planning algorithm in joint space with continuous accelerations

2010 ◽  
Author(s):  
Fengshui Jing ◽  
Yuhan Qi ◽  
Yanhui Qiang ◽  
Chao Yang
Keyword(s):  
Trajectory Planning ◽  
Joint Space ◽  
Robot Trajectory ◽  
Planning Algorithm ◽  
On Line ◽  
Robot Trajectory Planning

Research and Simulation of Robot Trajectory Planning in Joint Space

2011 ◽  
Vol 103 ◽  
pp. 372-377
Author(s):  
Xiao Ping Hu ◽  
Fu Yong Zuo
Keyword(s):  
Velocity Profile ◽  
Trajectory Planning ◽  
Joint Space ◽  
Robot Trajectory ◽  
Simulation Results ◽  
Robot Position ◽  
Robot Trajectory Planning

Studying methods of robot trajectory planning which based on polynomial and trapezoidal velocity profile in joint space. The trajectory of one joint robot and joints robot is simulated by MATLAB. The simulation results shows that it satisfies restraint conditions of robot position velocity and acceleration in motion, it guaranteed smooth and continuity.

Cosine Second Order Robot Trajectory Planning Method

2011 ◽  
Vol 80-81 ◽  
pp. 1075-1080
Author(s):  
Zong Wu Xie ◽  
Cao Li ◽  
Hong Liu
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Trajectory Tracking ◽  
Joint Space ◽  
Planning Method ◽  
Robot Trajectory ◽  
Great Performance ◽  
Planning Methods ◽  
Planning Algorithm ◽  
Path Planning Algorithm

A new joint space trajectory planning method for the series robot is proposed. Comparing with the traditional path planning methods which can only guarantee the planned trajectory velocity or acceleration continuous, the proposed trajectory planning algorithm can also ensure the derivative of acceleration (Jerk) continuous within a limit threshold. At the end of this paper, the proposed path planning algorithm is validated of having a great performance on robot trajectory tracking.

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

Robot Trajectory Planning Using Rational Frenet-Serret Curves

Volume 2 ◽  
2004 ◽  
Author(s):  
Reza Ravani ◽  
Ali Meghdari
Keyword(s):  
Trajectory Planning ◽  
Computer Animation ◽  
Rational Curves ◽  
Robot Arm ◽  
Robot Trajectory ◽  
Arm Motion ◽  
Sweep Surface ◽  
And Robotics ◽  
Rotation Minimizing Frame ◽  
Robot Trajectory Planning

The aim of this paper is to demonstrate that the techniques of Computer Aided Geometric Design such as spatial rational curves and surfaces could be applied to Kinematics, Computer Animation and Robotics. For this purpose we represent a method which utilizes a special class of rational curves called Rational Frenet-Serret (RF) [8] curves for robot trajectory planning. RF curves distinguished by the property that the motion of their Frenet-Serret frame is rational. We describe an algorithm for interpolation of positions by a rational Frenet-Serret motion. Further more we provide an analysis on spatial frames (Frenet-Serret frame and Rotation Minimizing frame) for smooth robot arm motion and investigate their applications in sweep surface modeling.

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