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Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves

文献类型：期刊论文

作者Su, Tingting1,2; Cheng, Long2,3; Wang, Yunkuan1,2; Liang, Xu2,3; Zheng, Jun1; Zhang, Haojian1,2
刊名IEEE ACCESS
出版日期2018
卷号6页码:28530-28539
关键词Delta parallel robot pick-and-place operation trajectory planning quintic Pythagorean-Hodograph curves optimization
ISSN号2169-3536
DOI10.1109/ACCESS.2018.2831663
通讯作者Cheng, Long(long.cheng@ia.ac.cn)
英文摘要In this paper, a time-optimal trajectory planning method based on quintic Pythagorean-Hodograph (PH) curves is proposed to realize the smooth and stable high-speed operation of the Delta parallel robot. The trajectory is determined by applying the quintic PH curves to the transition segments in the pick-and-place operation trajectory and the 3-4-5 polynomial motion law to the trajectory. The quintic PH curves are optimized to reduce the cycle time of the pick-and-place operation. In addition, a comparison between different trajectory planning methods has been implemented so as to observe the performance of the obtained results. The MATLAB simulation results reveal that compared with the trajectory planning based on vertical and horizontal motion superposition, the trajectory planning based on quintic PH curves is completed with a shorter motion cycle time and more stable motion performance, with the velocities, accelerations, and jerks in joint space bounded and continuous. Experiments carried out on the prototype also confirm that the trajectory planning based on quintic PH curves has a shorter cycle time, which is of great importance to high-speed operations of Delta parallel robots.
WOS关键词PARALLEL ROBOT ; PH CURVES ; MANIPULATORS ; GENERATION ; ALGORITHM ; MOTIONS ; WORKSPACE ; PATH ; UAVS
资助项目National Natural Science Foundation of China[61633016] ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation[4162066] ; Major Science and Technology Project of Henan Province[161100210300]
WOS研究方向Computer Science ; Engineering ; Telecommunications
语种英语
WOS记录号WOS:000435336000001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Research Fund for Young Top-Notch Talent of National Ten Thousand Talent Program ; Beijing Municipal Natural Science Foundation ; Major Science and Technology Project of Henan Province
源URL[http://ir.ia.ac.cn/handle/173211/23169]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Cheng, Long
作者单位1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Su, Tingting,Cheng, Long,Wang, Yunkuan,et al. Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves[J]. IEEE ACCESS,2018,6:28530-28539.
APA Su, Tingting,Cheng, Long,Wang, Yunkuan,Liang, Xu,Zheng, Jun,&Zhang, Haojian.(2018).Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves.IEEE ACCESS,6,28530-28539.
MLA Su, Tingting,et al."Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves".IEEE ACCESS 6(2018):28530-28539.

入库方式： OAI收割

来源：自动化研究所

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