A method for trajectory planning of robot manipulators in Cartesian space

2002 ◽  
Author(s):  
Xiangrong Xu ◽  
Yaobin Chen
Keyword(s):  
Trajectory Planning ◽  
Robot Manipulators ◽  
Cartesian Space

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.

Quaternion and Five-Segment S-Curve’s Application on Manipulator Motion Planning

2019 ◽  
Author(s):  
Hongbin Liang ◽  
Tuqi Cai ◽  
He Wang
Keyword(s):  
Trajectory Planning ◽  
Sudden Change ◽  
Angular Acceleration ◽  
Smooth Transition ◽  
Interpolation Algorithm ◽  
End Effector ◽  
Cartesian Space ◽  
Orientation Change ◽  
S Curve ◽  
S Application

To improve the arc trajectory precision of puma560 end-effector passing the non-collinear three points and reduce the calculation amount of real-time interpolation, In this paper, the quaternion is used to describe the end attitude of the manipulator, and the five-segment S-curve normalization operator is applied to the spherical interpolation of the quaternion, it make the orientation change smoothly, and the speed does not change suddenly. At the same time, it proposes to apply the five-segment s-curve in the manipulator Cartesian space interpolation algorithm to achieve a smooth transition to velocity and acceleration, avoiding the vibration of the manipulator effectively. In this paper, we use Matlab as a simulation platform to analyze the kinematics of manipulator, and to perform arc trajectory planning in the manipulator Cartesian space, and also perform simulation verification on the orientation trajectory. The simulation results show that the algorithm can guarantee the smooth transition to angular velocity and angular acceleration, avoid sudden change of the orientation of the manipulator, and verify the effect of the trajectory planning visually. It provides an efficient and feasible trajectory planning method.

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.

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