The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

2014 ◽  
Vol 538 ◽  
pp. 367-370 ◽  
Author(s):  
Zhi Jian Gou ◽  
Cheng Wang
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
B Spline ◽  
B Splines ◽  
Robot Trajectory ◽  
Fifth Order ◽  
Parameter Constraints

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS.So it provides an effective new method for the trajectory planning.

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.

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

Industrial Robot Kinematics Parameter Identification

2014 ◽  
Vol 889-890 ◽  
pp. 1136-1143
Author(s):  
Yong Gui Zhang ◽  
Chen Rong Liu ◽  
Peng Liu
Keyword(s):  
Experimental Data ◽  
Genetic Algorithms ◽  
Parameter Identification ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
Unknown Parameters ◽  
Preliminary Measurement ◽  
Kinematics Modeling

For an industrial robots with unknown parameters, on the basis of preliminary measurement and data of the Cartesian and joints coordinates which are shown on the FlexPendant, the kinematic parameters is identified by using genetic algorithms and accurate kinematics modeling of the robot is established. Experimental data could prove the validity of this method.

An algorithm for smooth trajectory planning optimization of isotropic translational parallel manipulators

2015 ◽  
Vol 230 (12) ◽  
pp. 1987-2002 ◽  
Author(s):  
Mahmood Reza Azizi ◽  
Rahmatolah Khani
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulators ◽  
Geometric Constraints ◽  
Nsga Ii ◽  
End Effector ◽  
B Splines ◽  
Planning Optimization ◽  
Need To Evaluate ◽  
Significant Performance ◽  
Fifth Order

This paper presents a new algorithm for smooth trajectory planning optimization of isotropic translational parallel manipulators (ITPM) that their Jacobian matrices are constant and diagonal over the whole robot workspace. The basic motivation of this work is to formulate the robot kinematic and geometric constraints in terms of optimization variables to reduce the mathematical complexity and running time of the resulting algorithm which are important issues in trajectory planning optimization. To achieve this aim, the end-effector trajectory of ITPMs in Cartesian space is defined using fifth-order B-Splines, and as a main contribution, all of the actuators limitations and robot constraints are formulated in terms of B-Spline parameters with no need of any information about the workspace geometry. Then the total required energy, total time of motion, and maximum absolute value of actuators’ jerk are defined as objective functions and non-dominated sorting genetic algorithm-II (NSGA-II) is used to solve the resulting nonlinear constrained multi-objective optimization problem. Finally, the proposed algorithm is implemented in MATLAB software for Cartesian parallel manipulator (CPM) as a case study, and the results are demonstrated and discussed. The obtained results show the significant performance of the proposed algorithm with no need to evaluate the robot’s constraints and boundaries of its workspace in each point of the end-effector trajectory.

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

2020 ◽  
Vol 142 (7) ◽  
Author(s):  
Sen Qian ◽  
Kunlong Bao ◽  
Bin Zi ◽  
W. D. Zhu
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Planning Method ◽  
End Effector ◽  
B Spline ◽  
B Splines ◽  
Pick And Place ◽  
Two Factors ◽  
Three Degrees Of Freedom

Abstract This paper presents a new trajectory planning method based on the improved quintic B-splines curves for a three degrees-of-freedom (3-DOF) cable-driven parallel robot (CDPR). First, the conditions of positive cables’ tension are expressed in terms of the position and acceleration constraints of the end-effector. Then, an improved B-spline curve is introduced, which is employed for generating a pick-and-place path by interpolating a set of given via-points. Meanwhile, by expressing the position and acceleration of the end-effector in terms of the first and second derivatives of the improved B-spline, the cable tension constraints are described in the form of B-spline parameters. According to the properties of the defined pick-and-place path, the proposed motion profile is dominated by two factors: the time taken for the end-effector to pass through all the via-points and the ratio between the nodes of B-spline. The two factors are determined through multi-objective optimization based on the efficiency coefficient method. Finally, experimental results on a 3-DOF CDPR show that the improved B-spline exhibits overall superior behavior in terms of velocity, acceleration, and cables force compared with the traditional B-spline. The validity of the proposed trajectory planning method is proved through the experiments.

Smooth Trajectory Planning for 3-UPU Parallel Manipulator

2013 ◽  
Vol 464 ◽  
pp. 285-292
Author(s):  
Kambiz Ghaem Osgouie ◽  
Amir Hossein Asfia ◽  
Mohamad Hossein Sadooghi ◽  
Abolfazl Ahmadi Kazemabadi
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Optimization Method ◽  
Joint Space ◽  
Optimization Techniques ◽  
Task Space ◽  
Total Execution Time ◽  
B Splines ◽  
Method Optimization ◽  
System Task

Exciting the mechanical resonance mode and vibration caused by non-smooth trajectories can cause some failure in the structure of the robot and its actuators. This work proposes a smooth trajectory planning for 3 degree of freedom (dof) 3-upu parallel manipulator. We have used optimization method to define the smooth trajectory for this robot. In this paper an objective function has been used which contain a term related to the total execution time and a term corresponding to the integral of squared jerk. Some constraints have been applied to the problem as the input of our system. Task space and joint space trajectory are then considered as the output. In this method optimization techniques such as genetic algorithm and fmincon (function of MatLabTM ) have been investigated. Six via points have been considered and B-splines have been used to present kinematic quantities.

scholarly journals Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Guang Jin ◽  
Shuai Ma ◽  
Zhenghui Li
Keyword(s):  
Dynamic Simulation ◽  
Trajectory Planning ◽  
Simulation Modeling ◽  
Industry 4.0 ◽  
Industrial Robot ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Robot Kinematics ◽  
Kinetic Characteristics

This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

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