• DocumentCode
    1577838
  • Title

    Asymmetric s-curve trajectory planning for robot point-to-point motion

  • Author

    Zou, Fengshan ; Qu, Daokui ; Xu, Fang

  • Author_Institution
    Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang, China
  • fYear
    2009
  • Firstpage
    2172
  • Lastpage
    2176
  • Abstract
    In this paper, we develop an asymmetric s-curve profile method with jerk bounded to obtain high-precision motion and reduce the residual vibration. All possible instances for asymmetric s-curve profile planning are analyzed. The algorithm and its implementation are proposed with a direct and complete method. Simulation results are presented to verify the effectiveness and reliability of the proposed approach.
  • Keywords
    industrial robots; motion control; path planning; position control; vibration control; asymmetric s-curve profile method; complete method; direct method; jerk method; residual vibration reduction; robot point-to-point motion; trajectory planning; Acceleration; Biomimetics; Manufacturing industries; Motion control; Motion planning; Robotics and automation; Service robots; Shape; Time factors; Trajectory; asymmetric s-curve; point-to-point motion; trajectory planning Introduction;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
  • Conference_Location
    Guilin
  • Print_ISBN
    978-1-4244-4774-9
  • Electronic_ISBN
    978-1-4244-4775-6
  • Type

    conf

  • DOI
    10.1109/ROBIO.2009.5420482
  • Filename
    5420482
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1577838