Research of an Improved Trajectory Planning Method for Industrial Robot
An improved quintic polynomial interpolation method is proposed to solve the catastrophe phenomenon caused by the original method order in the course of solving the motion trajectory of the robot. The ER 3A-C60 industrial robot produced by a company is taken as the research object. Using the standar...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.006 |
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| author | Qingbo Kong Liang Yuan Wei Jiang |
| author_facet | Qingbo Kong Liang Yuan Wei Jiang |
| author_sort | Qingbo Kong |
| collection | DOAJ |
| description | An improved quintic polynomial interpolation method is proposed to solve the catastrophe phenomenon caused by the original method order in the course of solving the motion trajectory of the robot. The ER 3A-C60 industrial robot produced by a company is taken as the research object. Using the standard D-H parameter method， the coordinate system of the robot connecting rod is established first， then， the robot simulation model is created and the kinematics forward solution and inverse solution are solved， the workspace point cloud image at the end of the robot is also been made. In the process of solving robot motion trajectory， a fusion method of polynomial interpolation and B-spline interpolation is proposed to eliminate the catastrophe phenomenon. The experimental results show that the optimized joint correlation curve is smoother， the mutation phenomenon is eliminated， and the impact of vibration and shock on the performance and life of the robot is avoided. |
| format | Article |
| id | doaj-art-28301d388dd245c0b2a8e5b20df90092 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-28301d388dd245c0b2a8e5b20df900922025-01-10T14:02:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-02-0143303630639320Research of an Improved Trajectory Planning Method for Industrial RobotQingbo KongLiang YuanWei JiangAn improved quintic polynomial interpolation method is proposed to solve the catastrophe phenomenon caused by the original method order in the course of solving the motion trajectory of the robot. The ER 3A-C60 industrial robot produced by a company is taken as the research object. Using the standard D-H parameter method， the coordinate system of the robot connecting rod is established first， then， the robot simulation model is created and the kinematics forward solution and inverse solution are solved， the workspace point cloud image at the end of the robot is also been made. In the process of solving robot motion trajectory， a fusion method of polynomial interpolation and B-spline interpolation is proposed to eliminate the catastrophe phenomenon. The experimental results show that the optimized joint correlation curve is smoother， the mutation phenomenon is eliminated， and the impact of vibration and shock on the performance and life of the robot is avoided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.006Standard D-H parameterTrajectory planningQuintic polynomial interpolationB-spline interpolation |
| spellingShingle | Qingbo Kong Liang Yuan Wei Jiang Research of an Improved Trajectory Planning Method for Industrial Robot Jixie chuandong Standard D-H parameter Trajectory planning Quintic polynomial interpolation B-spline interpolation |
| title | Research of an Improved Trajectory Planning Method for Industrial Robot |
| title_full | Research of an Improved Trajectory Planning Method for Industrial Robot |
| title_fullStr | Research of an Improved Trajectory Planning Method for Industrial Robot |
| title_full_unstemmed | Research of an Improved Trajectory Planning Method for Industrial Robot |
| title_short | Research of an Improved Trajectory Planning Method for Industrial Robot |
| title_sort | research of an improved trajectory planning method for industrial robot |
| topic | Standard D-H parameter Trajectory planning Quintic polynomial interpolation B-spline interpolation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.02.006 |
| work_keys_str_mv | AT qingbokong researchofanimprovedtrajectoryplanningmethodforindustrialrobot AT liangyuan researchofanimprovedtrajectoryplanningmethodforindustrialrobot AT weijiang researchofanimprovedtrajectoryplanningmethodforindustrialrobot |