Study on Trajectory Planning for Space Simulator Based on Minimum Acceleration Limitation

2013 ◽  
Vol 740 ◽  
pp. 3-8
Author(s):  
Zhen Zhen Bian ◽  
Hong Bo Li ◽  
Yun He ◽  
Zhi Gang Xu ◽  
Feng Sheng Li
Keyword(s):  
Trajectory Planning ◽  
Model Design ◽  
Complete Space ◽  
Maximum Acceleration ◽  
Swarm Optimization ◽  
3D Cad ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Control Set ◽  
Optimal Trajectory Planning

Trajectory planning and simulation of docking tests on the ground for space simulator is one of key technologies to complete space docking mission. A new time-optimal trajectory planning algorithm is proposed based on minimum acceleration limitation. It is realized by searching maximum acceleration to obtain the best time according to PSO (particle swarm optimization). Through calling matlab script by LabView and capturing control set points, 3D CAD model is driven to verify the rationality of the trajectory planning algorithm and model design. The simulation results show that the simulator using the proposed algorithm can move smoothly and reliably meeting the experiment requirements.

Time Optimal Path Planning of Palletizing Robot

2013 ◽  
Vol 470 ◽  
pp. 658-662
Author(s):  
Yong Pan Xu ◽  
Ying Hong
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Path ◽  
Straight Path ◽  
Optimal Path Planning ◽  
Quintic Polynomial ◽  
Time Optimal ◽  
Acceleration And Deceleration ◽  
Planning Algorithm ◽  
Optimal Trajectory Planning

In order to improve the efficiency and reduce the vibration of Palletizing Robot, a new optimal trajectory planning algorithm is proposed. This algorithm is applied to the trajectory planning of Palletizing manipulators. The S-shape acceleration and deceleration curve is adopted to interpolate joint position sequences. Considering constraints of joint velocities, accelerations and jerks, the traveling time of the manipulator is minimized. The joint interpolation confined by deviation is used to approximate the straight path, and the deviation is decreased significantly by adding only small number of knots. Traveling time is solved by using quintic polynomial programming strategy between the knots, and then time-jerk optimal trajectories which satisfy constraints are planned. The results show that the method can avoid the problem of manipulator singular points and improve the palletize efficiency.

A Novel Algorithm for Time Optimal Trajectory Planning

2014 ◽  
Author(s):  
Mingxing Yuan ◽  
Bin Yao ◽  
Dedong Gao ◽  
Xiaocong Zhu ◽  
Qingfeng Wang
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Solution ◽  
Problem Of Time ◽  
High Productivity ◽  
Hard Constraints ◽  
Time Optimal ◽  
Rate Optimization ◽  
Feed Rate Optimization ◽  
Optimal Trajectory Planning

Time optimal trajectory planning under various hard constraints plays a significant role in simultaneously meeting the requirements on high productivity and high accuracy in the fields of both machining tools and robotics. In this paper, the problem of time optimal trajectory planning is first formulated. A novel back and forward check algorithm is subsequently proposed to solve the minimum time feed-rate optimization problem. The basic idea of the algorithm is to search the feasible solution in the specified interval using the back or forward operations. Four lemmas are presented to illustrate the calculating procedure of optimal solution and the feasibility of the proposed algorithm. Both the elliptic curve and eight profile are used as case studies to verify the effectiveness of the proposed algorithm.

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