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
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;
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
DOI :
10.1109/ROBIO.2009.5420482
