Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint
文献类型：期刊论文
| 作者 | Liang, Xu2,3 ; Su, Tingting1
|
| 刊名 | APPLIED SCIENCES-BASEL
 |
| 出版日期 | 2019-11-01 |
| 卷号 | 9期号:21页码:14 |
| 关键词 | delta robot trajectory planning geometrical constraint PH curves |
| DOI | 10.3390/app9214491 |
| 通讯作者 | Su, Tingting(sutingting@ncut.edu.cn) |
| 英文摘要 | A new trajectory planning approach on the basis of the quintic Pythagorean-Hodograph (PH) curve is presented and applied to Delta robot for implementing pick-and-place operation (PPO). To satisfy a prescribed geometrical constraint, which indicates the distance between the transition segment curve and right angle of PPO trajectory is no greater than a prescribed value, the quintic PH curve is used to produce a connection segment path for collision avoidance. The relationship between the PH curve and constraint is analyzed, based on which PH curve is calculated simply. Afterwards, the trajectory is planned in different phases with different motion laws, i.e. polynomial motion laws and PH curve parameter-dependent motion laws, to obtain a smooth performance both in Cartesian and joint space. The relationship between the PH curve and constraint is also used to improve the efficiency of calculation, and the trajectory symmetry is used to reduce calculation time by direct symmetric transformation. Thus, real-time performance is improved. The results of simulations and experiments indicate that the approach in this paper can provide smooth motion and meet the real-time requirement under the prescribed geometrical constraint. |
| WOS关键词 | DIMENSIONAL SYNTHESIS ; PARALLEL MANIPULATOR ; OPTIMIZATION ; DESIGN ; CONSTRUCTION |
| 资助项目 | National Nature Science Foundation of China[51775002] ; Nature Science Foundation of Beijing[L172001] ; Nature Science Foundation of Beijing[3172009] ; Nature Science Foundation of Beijing[L160001] ; Nature Science Foundation of Beijing[3194047] ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems[20190101] |
| WOS研究方向 | Chemistry ; Materials Science ; Physics |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:000498058600016 |
| 资助机构 | National Nature Science Foundation of China ; Nature Science Foundation of Beijing ; Open Project Program of the State Key Laboratory of Management and Control for Complex Systems |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29341]  |
| 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 | Su, Tingting |
| 作者单位 | 1.North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liang, Xu,Su, Tingting. Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint[J]. APPLIED SCIENCES-BASEL,2019,9(21):14. |
| APA | Liang, Xu,&Su, Tingting.(2019).Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint.APPLIED SCIENCES-BASEL,9(21),14. |
| MLA | Liang, Xu,et al."Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint".APPLIED SCIENCES-BASEL 9.21(2019):14. |
入库方式： OAI收割
来源：自动化研究所
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