Reducing energy consumption via trajectory planning method for delta high-speed parallel manipulator

2019 ◽  
pp. 002072091989420
Author(s):  
Cheng Liu ◽  
Guohua Cao ◽  
Yongyin Qu
Keyword(s):  
Energy Consumption ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
High Speed ◽  
Polynomial Interpolation ◽  
Parallel Robot ◽  
Joint Space ◽  
Degree Polynomial ◽  
Operating Space ◽  
Motion Characteristics

This paper selects delta high-speed parallel robot with three degrees of freedom as the research object. The trajectory planning strategies of Cartesian space and angular displacement, angular velocity and angular acceleration of three joints in high-speed handling are studied. Firstly, the critical trajectory points starting point and end point, and points for obstacle avoidance height are set up, and then according to the inverse kinematics model of the robot, a point-to-point “door” type moving trajectory is established, and the mapping relationship between the motion characteristics of the operating space and the motion characteristics of the joint space is established by using the 4-3-4 degree polynomial motion law in the operating space. However, aiming at the higher energy consumption of 4-3-4 degree polynomial interpolation caused by longer the trajectory, and difficult control of obstacle avoidance height, one key point is added. Thereby, the motion rules are interpolated by 4-3-3-4 degree polynomial interpolation, and the mapping relationship between the motion characteristics of the operating space and the motion characteristics of the joint space is established. Two trajectory planning methods are simultaneously simulated under the same keys points and the same trajectory time range. The motion characteristics of the joint rotation angle of the parallel robot between polynomial interpolations are respectively compared. The results show that the trajectory planning method based on 4-3-3-4 degree polynomial interpolation in joint space has obvious advantages in improving the running state of the delta parallel robot and reducing the energy consumption of the system.

scholarly journals Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Actuators ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 80
Author(s):  
Shengqiao Hu ◽  
Huimin Kang ◽  
Hao Tang ◽  
Zhengjie Cui ◽  
Zhicheng Liu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Trajectory Optimization ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Sudden Change ◽  
Parallel Robot ◽  
Joint Space ◽  
Allowable Limit ◽  
Three Phase ◽  
Motion Profile

To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher.

The Kinematic Analysis and Trajectory Planning Study of High-Speed SCARA Robot Handling Operation

2014 ◽  
Vol 687-691 ◽  
pp. 294-299 ◽  
Author(s):  
Guo Qing Ma ◽  
Zheng Lin Yu ◽  
Guo Hua Cao ◽  
Yan Bin Zheng ◽  
Li Liu
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
High Speed ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Joint Space ◽  
Parameter Design ◽  
Matlab Simulation ◽  
Scara Robot ◽  
Cubic Polynomial

Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.

Performance simulation and energetic analysis of TBot high-speed cable-driven parallel robot

2021 ◽  
pp. 1-14
Author(s):  
Jinhao Duan ◽  
Zhufeng Shao ◽  
Zhaokun Zhang ◽  
Fazhong Peng
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
High Speed ◽  
Low Cost ◽  
Parallel Robot ◽  
Industrial Applications ◽  
Parallel Robots ◽  
Dynamics Modeling ◽  
Serial Robots ◽  
Key Issues

Abstract Compared with serial robots, parallel robots have the advantages of high stiffness and good dynamics. By replacing the rigid limbs with cables, the cable-driven parallel robot (CDPR) is greatly simplified in structure and lightweight. We designed a high-speed CDPR tensioned by the passive rod and spring, named TBot. The robot can realize the SCARA movement as the classical Delta parallel robot. Comparison analysis of TBot and Delta is carried out to reveal the natures of the CDPRs and rigid parallel robots, identify the key issues, and promote industrial applications. Based on kinematics and dynamics modeling, performances are analyzed with simulation under a typical Adept Motion trajectory. Results illustrate that TBot has advantages of low cost, low inertia, low energy consumption and adjustable workspace and has great application potential. Energy consumption of the TBot is discussed and the trajectory planning is studied with the genetic algorithm to further reduce the energy consumption, considering the influence of the passive spring. Finally, on the basis of 30% less energy consumption for the Adept Motion than Delta, extra 14.3% energy consumption is saved through the trajectory planning of TBot.

scholarly journals Real-time Trajectory Planning for Automated Vehicle Safety and Performance in Dynamic Environments

2021 ◽  
pp. 1-22
Author(s):  
Huckleberry Febbo ◽  
Paramsothy Jayakumar ◽  
Jeffrey L. Stein ◽  
Tulga Ersal
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
High Speed ◽  
High Performance ◽  
Simultaneous Optimization ◽  
Problem Solver ◽  
Automated Vehicles ◽  
Control Effort ◽  
Moving Obstacle

Abstract Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while including the following set of specifications: minimum time-to-goal, a dynamic vehicle model, minimum control effort, both static and moving obstacle avoidance, simultaneous optimization of speed and steering, and a short execution horizon. This paper presents a nonlinear model predictive control-based trajectory planning formulation, tailored for a large, high-speed unmanned ground vehicle, that includes the above set of specifications. The ability to solve this formulation in real-time is evaluated using NLOptControl, an open-source, direct-collocation based, optimal control problem solver in conjunction with the KNITRO nonlinear programming problem solver. The formulation is tested with various sets of the specifications. A parametric study relating execution horizon and obstacle speed indicates that the moving obstacle avoidance specification is not needed for safety when the planner has a small execution horizon and the obstacles are moving slowly. However, a moving obstacle avoidance specification is needed when the obstacles are moving faster, and this specification improves the overall safety without, in most cases, increasing the solve-times. The results indicate that (i) safe trajectory planners for high-performance automated vehicles should include the entire set of specifications mentioned above, unless a static or low-speed environment permits a less comprehensive planner; and (ii) the resulting formulation can be solved in real-time.

Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator

2021 ◽  
Vol 11 (20) ◽  
pp. 9438
Author(s):  
Jianwei Zhao ◽  
Tao Han ◽  
Xiaofei Ma ◽  
Wen Ma ◽  
Chengxiang Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Random Number ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Joint Space ◽  
Work Requirements ◽  
Multiple Degrees Of Freedom ◽  
Quintic Polynomial

To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the overall structure of the explosion-expulsion manipulator is introduced. The redundant degrees of freedom are formed by the parallel joint axes of the shoulder joint, elbow joint and wrist pitching joint, which increase the flexibility of the mechanism. Aiming at a complex system with multiple degrees of freedom and strong coupling of the manipulator, the virtual joint is introduced, the corresponding forward kinematics model is established by D–H method, and the inverse kinematics solution of the manipulator is derived by analytical method. In the MATLAB platform, the workspace of the manipulator is analyzed by Monte Carlo pseudo-random number method. The quintic polynomial interpolation method is used to simulate the deflagration task in joint space. Finally, the actual prototype experiment is carried out using the data obtained by simulation. The trajectory planning using the quintic polynomial interpolation method can ensure the smooth movement of the manipulator and high accuracy of operation. Furthermore, the trajectory is basically consistent with the simulation trajectory, which can realize the work requirements of putting the object into the explosion-proof tank. The new 5-DOF folding deflagration manipulator designed in this paper has stable motion and strong robustness, which can be used for deflagration during the COVID-19 epidemic.

A Control Method Research of Parallel Mechanisms

2012 ◽  
Vol 619 ◽  
pp. 51-55
Author(s):  
Heng Chen ◽  
Yan Bing Ni
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Low Cost ◽  
Parallel Robot ◽  
Joint Space ◽  
Linear Mapping ◽  
Single Step ◽  
Parallel Mechanisms ◽  
Motion Controller

This paper deals with a control method research and trajectory planning of parallel mechanisms. Control system scheme which is based on PC and motion controller has high openness, high degree of modularization and support for non-linear mapping relationship between operating space and joint space of parallel mechanisms with high flexibility and low cost. PC and NI motion controller and LabVIEW constituted hardware core and software platform of control system, respectively. Hardware technology of control system contained hardware selection, control circuit design and interface technology; software technology of control system developed application programs layer, core control layer and drive functions layer to realize core control functions of finding home, single-step or continuous movement and micro adjustment, which was based on hardware principle. Trajectory has been planned for a typical high speed parallel robot.

Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor With Active Sensing

2021 ◽  
Vol 6 (2) ◽  
pp. 3365-3372
Author(s):  
Gang Chen ◽  
Dongxiao Sun ◽  
Wei Dong ◽  
Xinjun Sheng ◽  
Xiangyang Zhu ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
High Speed ◽  
Active Sensing ◽  
Computationally Efficient

scholarly journals A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

2021 ◽  
Vol 104 (4) ◽  
pp. 003685042110630
Author(s):  
Jinlu Ni ◽  
Jiangping Mei ◽  
Weizhong Hu
Keyword(s):  
Rigid Body ◽  
Trajectory Planning ◽  
High Speed ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Rigid Body Dynamics ◽  
Model Simplification ◽  
Hierarchical Approach ◽  
Dynamics Model ◽  
Body Dynamics

Considering the real-time control of a high-speed parallel robot, a concise and precise dynamics model is essential for the design of the dynamics controller. However, the complete rigid-body dynamics model of parallel robots is too complex for online calculation. Therefore, a hierarchical approach for dynamics model simplification, which considers the kinematics performance, is proposed in this paper. Firstly, considering the motion smoothness of the end-effector, trajectory planning based on the workspace discretization is carried out. Then, the effects of the trajectory parameters and acceleration types on the trajectory planning are discussed. But for the fifth-order and seventh-order B-spline acceleration types, the trajectory will generate excessive deformation after trajectory planning. Therefore, a comprehensive index that considers both the motion smoothness and trajectory deformation is proposed. Finally, the dynamics model simplification method based on the combined mass distribution coefficients is studied. Results show that the hierarchical approach can guarantee both the excellent kinematics performance of the parallel robot and the accuracy of the simplified dynamics model under different trajectory parameters and acceleration types. Meanwhile, the method proposed in the paper can be applied to the design of the dynamics controller to enhance the robot's performance.

Trajectory planning of a 4-RR(SS)2 high-speed parallel robot

Robotica ◽  
2022 ◽  
pp. 1-17
Author(s):  
Huipu Zhang ◽  
Manxin Wang ◽  
Haibin Lai ◽  
Junpeng Huang
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
High Speed ◽  
Movement Time ◽  
Parallel Robot ◽  
Acceleration And Deceleration ◽  
Moving Platform ◽  
Motion Parameters ◽  
Trajectory Interpolation ◽  
The Right

Abstract The trajectory-planning method for a novel 4-degree-of-freedom high-speed parallel robot is studied herein. The robot’s motion mechanism adopts RR(SS)2 as branch chains and has a single moving platform structure. Compared with a double moving platform structure, the proposed parallel robot has better acceleration and deceleration performance since the mass of its moving platform is lighter. An inverse kinematics model of the mechanism is established, and the corresponding relationship between the motion parameters of the end-moving platform and the active arm with three end-motion laws is obtained, followed by the optimization of the motion laws by considering the motion laws’ duration and stability. A Lamé curve is used to transition the right-angled part of the traditional gate trajectory, and the parameters of the Lamé curve are optimized to achieve the shortest movement time and minimum acceleration peak. A method for solving Lamé curve trajectory interpolation points based on deduplication optimization is proposed, and a grasping frequency experiment is conducted on a robot prototype. Results show that the grasping frequency of the optimized Lamé curve prototype can be increased to 147 times/min, and its work efficiency is 54.7% higher than that obtained using the traditional Adept gate-shaped trajectory.

scholarly journals Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875456 ◽  
Author(s):  
Li Xie ◽  
Christian Henkel ◽  
Karl Stol ◽  
Weiliang Xu
Keyword(s):  
Energy Consumption ◽  
Power Consumption ◽  
Trajectory Planning ◽  
Autonomous Navigation ◽  
High Speed ◽  
Energy Reduction ◽  
New Energy ◽  
Mecanum Wheel ◽  
Major Factors ◽  
Window Approach

To improve the energy efficiency of the Mecanum wheel, this article extends the dynamic window approach by adding a new energy-related criterion for minimizing the power consumption of autonomous mobile robots. The energy consumption of the Mecanum robot is first modeled by considering major factors. Then, the model is utilized in the extended dynamic window approach–based local trajectory planner to additionally evaluate the omnidirectional velocities of the robot. Based on the new trajectory planning objective that minimizes power consumption, energy-reduction autonomous navigation is proposed via the combinational cost objectives of low power consumption and high speed. Comprehensive experiments are performed in various autonomous navigation task scenarios, to validate the energy consumption model and to show the effectiveness of the proposed technique in minimizing the power consumption and reducing the energy consumption. It is observed that the technique effectively takes advantage of the Mecanum robot’s redundant maneuverability, can cope with any type of path and is able to fulfil online obstacle avoidance.

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