Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints
文献类型：期刊论文
| 作者 | T. Liu; J. Cui; Y. Li; S. Gao; M. Zhu and L. Chen |
| 刊名 | Sensors
 |
| 出版日期 | 2023 |
| 卷号 | 23期号:6 |
| ISSN号 | 14248220 |
| DOI | 10.3390/s23063074 |
| 英文摘要 | This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effector limits may violate kinematic constraints due to the non-linear relationship between the operation and joint space of redundant manipulators. A constraints conversion approach is proposed to update end-effector limits. The path can be divided into segments at the minimum of the updated limitations. On each path segment, the jerk-limited S-shaped velocity profile is generated within the updated limitations. The proposed method aims to generate end-effector trajectory by kinematic constraints which are imposed on joints, resulting in efficient robot motion performance. The WOA-based asymmetrical S-curve velocity scheduling algorithm can be automatically adjusted for different path lengths and start/end velocities, allowing flexibility in finding the time-optimal solution under complex constraints. Simulations and experiments on a redundant manipulator prove the effect and superiority of the proposed method. © 2023 by the authors. |
| URL标识 | 查看原文 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/67719]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | T. Liu,J. Cui,Y. Li,et al. Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints[J]. Sensors,2023,23(6). |
| APA | T. Liu,J. Cui,Y. Li,S. Gao,&M. Zhu and L. Chen.(2023).Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints.Sensors,23(6). |
| MLA | T. Liu,et al."Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints".Sensors 23.6(2023). |
入库方式： OAI收割
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。