Title :
Optimized tracjectory planning algorithm for industrial robot
Author :
Li, Wenguang ; Liu, Guangliang ; Wang, Yali ; Zhi, Jianbin ; Ma, Shiguo ; Chen, Tie
Author_Institution :
Shandong Provincial Key Lab. of Robot & Manuf. Autom. Technol., Inst. of Autom., Jinan, China
Abstract :
One effective trajectory planning algorithm for industrial robot manipulator is introduced in this paper. Both the running velocity and time are normalized. With the known trajectory in the Cartesian space, some initial constraints are given, such as the initial and final position, velocity. One cubic polynomial is deduced when fitting the joint trajectory. Three DOF robot is established when testifying the algorithm by simulation. The results verified the effectiveness and feasibility of the algorithm, it can be used into the industrial manipulator without many changing.
Keywords :
industrial manipulators; path planning; polynomial approximation; Cartesian space; DOF robot; cubic polynomial; industrial robot manipulator; running time; running velocity; trajectory planning algorithm; Algorithm design and analysis; Joints; Manipulators; Planning; Service robots; Trajectory; Cubic polynomial; Initial constraints; Robot manipulator; Trajectory planning;
Conference_Titel :
Fuzzy Systems and Knowledge Discovery (FSKD), 2012 9th International Conference on
Conference_Location :
Sichuan
Print_ISBN :
978-1-4673-0025-4
DOI :
10.1109/FSKD.2012.6234012
