Journal
MECHANISM AND MACHINE THEORY
Volume 153, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.103957
Keywords
Trajectory planning; Robot manipulator; Sine jerk; Kinematical constraint; Smooth motion
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Funding
- Special Program for Innovation Method of the Ministry of Science and Technology, China [2018IM020100]
- National Natural Science Foundation of China [51975360, 51775332, 51975350, 51675329]
- National Social Science Foundation of China [17ZDA020]
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This paper proposes a methodology to generate online smooth joint trajectories of robots based on an improved sinusoidal jerk model. The multi-segment trajectory model is designed to allow a more sufficient exploitation of the actuation capability, thereby shortening the execution time while ensuring continuity up to the jerk level. Afterwards, the general mathematical expressions of the motion profiles are derived from integration of the jerk function. By analyzing the critical constraint conditions corresponding to each possible profile type, a complete closed-form solution to the minimum time planning problem with consideration of kinematic constraints has then been worked out, where a parameter named the ramp coefficient that manages the ratio of the sine jerk period is introduced to simplify the determination of the motion formulas. Thus the method results in a computationally light optimization procedure for facile implementation and enables a higher level of regularity for achieving desirable motion behaviours in light of the operation requirements and joint characteristics. Experimental results conducted on a robot manipulator reveal that the proposed approach is capable of yielding better performance than existing techniques in terms of efficiency and jerk suppression. (C) 2020 Elsevier Ltd. All rights reserved.
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