scholarly journals The Combination Trajectory Planning of Serial Robot in Cartesian Space and Joint Space

2019 ◽  
Vol 563 ◽  
pp. 052039
Author(s):  
Jun Ren ◽  
Qianghao Zhang
Keyword(s):  
Trajectory Planning ◽  
Joint Space ◽  
Cartesian Space ◽  
Serial Robot

scholarly journals Kinematic analysis of a newly designed cable-driven manipulator

2018 ◽  
Vol 42 (2) ◽  
pp. 125-135 ◽  
Author(s):  
Wei Xu ◽  
Yaoyao Wang ◽  
Surong Jiang ◽  
Jiafeng Yao ◽  
Bai Chen
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Joint Space ◽  
Joint Angles ◽  
Coupled Motion ◽  
Cartesian Space ◽  
The Impact ◽  
The Relationship

In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.

Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge

2011 ◽  
Vol 121-126 ◽  
pp. 1358-1362
Author(s):  
Qian Qian Chen ◽  
Xiu Ting Wei ◽  
Jiang Hai Lin ◽  
Gang Li
Keyword(s):  
Inverse Problem ◽  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Joint Space ◽  
Forward Problem ◽  
Cartesian Space ◽  
Painting Robot

In order to implement the surface painting automation of irregular components of reproducing cartridge, a painting robot manipulator with four degrees of freedom is carried out in this paper. Kinematics forward problem and inverse problem of the manipulator are firstly formulated and then painting trajectory is described by adopting the structure of endpoints and line-style. Furthermore, painting trajectory is generated in both joint space and Cartesian space according to robot’s trajectory planning principle.

The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality

2012 ◽  
Vol 204-208 ◽  
pp. 4729-4733
Author(s):  
Hui Ying Dong ◽  
Qi Hua Sun ◽  
Xue Lu ◽  
Zhang Ming Liu
Keyword(s):  
Virtual Reality ◽  
Trajectory Planning ◽  
Hot Spot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Trajectory Tracking Control ◽  
Cartesian Space ◽  
Robot Trajectory ◽  
Interactive Operation ◽  
Simulation Based

At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.

A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

2014 ◽  
Vol 602-605 ◽  
pp. 1352-1357 ◽  
Author(s):  
Yong Ting Zhao ◽  
Bin Zheng ◽  
Hong Lin Ma
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Angular Displacement ◽  
Joint Space ◽  
New Method ◽  
Position Information ◽  
Physical Constraints ◽  
Dynamic Constraints ◽  
Quaternion Interpolation ◽  
And Performance

This paper proposes a new method of 6-DOF serial robot’s trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot’s trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning.

Joint space trajectory planning for flexible manipulators

1995 ◽  
Vol 12 (5) ◽  
pp. 287-299 ◽  
Author(s):  
Chih-Min Yao ◽  
Wen-Hon Cheng
Keyword(s):  
Trajectory Planning ◽  
Joint Space ◽  
Flexible Manipulators

scholarly journals Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

1999 ◽  
Author(s):  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Parallel Manipulator ◽  
Cartesian Product ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Connected Components ◽  
Feasible Point ◽  
Cartesian Space ◽  
Point Trajectories ◽  
Point To Point

Abstract The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator.

scholarly journals Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Mingfang Chen ◽  
Kaixiang Zhang ◽  
Sen Wang ◽  
Fei Liu ◽  
Jinxin Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Pso Algorithm ◽  
Joint Space ◽  
Quadruped Robots ◽  
Original Curve ◽  
Temporal Domain ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Joint Trajectory Planning ◽  
Actual Trajectory

Trajectory planning is the foundation of locomotion control for quadruped robots. This paper proposes a bionic foot-end trajectory which can adapt to many kinds of terrains and gaits based on the idea of trajectory planning combining Cartesian space with joint space. Trajectory points are picked for inverse kinematics solution, and then quintic polynomials are used to plan joint space trajectories. In order to ensure that the foot-end trajectory generated by the joint trajectory planning is closer to the original Cartesian trajectory, the distributions of the interpolation point are analyzed from the spatial domain to temporal domain. An evaluation function was established to assess the closeness degree between the actual trajectory and the original curve. Subsequently, the particle swarm optimization (PSO) algorithm and genetic algorithm (GA) for the points selection are used to obtain a more precise trajectory. Simulation and physical prototype experiments were included to support the correctness and effectiveness of the algorithms and the conclusions.

Simulation on Trajectory Planning of 6R Manipulator Based on the Shortest Distance Criterion

2014 ◽  
Vol 602-605 ◽  
pp. 942-945
Author(s):  
Qing Qing Huang ◽  
Guang Feng Chen ◽  
Jiang Hua Li ◽  
Xin Wei
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Spline Interpolation ◽  
Algebraic Method ◽  
End Effector ◽  
Cartesian Space ◽  
Shortest Distance ◽  
Inverse Solutions ◽  
Group Inverses ◽  
Forward And Inverse Kinematics

This paper concerns the trajectory planning and simulation for 6R Manipulator. First, algebraic method was used to deduce the forward and inverse kinematics of 6R manipulator. All inverse solutions were expressed in atan2 to eliminate redundant roots to get the corresponding inverse formula. For the trajectory planning of manipulator in Cartesian space, using the cubic spline interpolation to get the drive function of joint, getting a unique solution from eight group inverses by the shortest distance criterion, and then obtained the actual end-effector trajectory. Using Matlab to verify the proposed trajectory planning method, validated results show that the proposed algorithm is feasible and effective.

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