Smooth Trajectory Planning for Robot under Multiple Constraint
Due to the restriction of the motor parameter,the various constraints,such as angular velocity constraint and angular acceleration constraint should be considered when planning the trajectories of robot. By analyzing the constraints condition,a novel smooth and time optimal trajectory planning appro...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.009 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547960299552768 |
|---|---|
| author | Liu Jing Zhang Ming |
| author_facet | Liu Jing Zhang Ming |
| author_sort | Liu Jing |
| collection | DOAJ |
| description | Due to the restriction of the motor parameter,the various constraints,such as angular velocity constraint and angular acceleration constraint should be considered when planning the trajectories of robot. By analyzing the constraints condition,a novel smooth and time optimal trajectory planning approach is proposed based on parametric modified trapezoidal. The time optimal trajectory planning problem which consider kinematics and dynamics constraints are transformed into a two-variable optimization problem with above trajectory planning approach,the time optimal trajectory is obtained by genetic algorithm. The effectiveness of the planning algorithm is verified by an experiment for a two degree hybrid manipulator. The results show that this planning algorithm can make full use of driving performances,and guarantee the continuity of the joint acceleration and torque. |
| format | Article |
| id | doaj-art-386b081a857f41ffa93a764ff9d06498 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-386b081a857f41ffa93a764ff9d064982025-01-10T14:15:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140434729926243Smooth Trajectory Planning for Robot under Multiple ConstraintLiu JingZhang MingDue to the restriction of the motor parameter,the various constraints,such as angular velocity constraint and angular acceleration constraint should be considered when planning the trajectories of robot. By analyzing the constraints condition,a novel smooth and time optimal trajectory planning approach is proposed based on parametric modified trapezoidal. The time optimal trajectory planning problem which consider kinematics and dynamics constraints are transformed into a two-variable optimization problem with above trajectory planning approach,the time optimal trajectory is obtained by genetic algorithm. The effectiveness of the planning algorithm is verified by an experiment for a two degree hybrid manipulator. The results show that this planning algorithm can make full use of driving performances,and guarantee the continuity of the joint acceleration and torque.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.009ConstraintTrajectory planningParametric modified trapezoidalTime optimal |
| spellingShingle | Liu Jing Zhang Ming Smooth Trajectory Planning for Robot under Multiple Constraint Jixie chuandong Constraint Trajectory planning Parametric modified trapezoidal Time optimal |
| title | Smooth Trajectory Planning for Robot under Multiple Constraint |
| title_full | Smooth Trajectory Planning for Robot under Multiple Constraint |
| title_fullStr | Smooth Trajectory Planning for Robot under Multiple Constraint |
| title_full_unstemmed | Smooth Trajectory Planning for Robot under Multiple Constraint |
| title_short | Smooth Trajectory Planning for Robot under Multiple Constraint |
| title_sort | smooth trajectory planning for robot under multiple constraint |
| topic | Constraint Trajectory planning Parametric modified trapezoidal Time optimal |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.09.009 |
| work_keys_str_mv | AT liujing smoothtrajectoryplanningforrobotundermultipleconstraint AT zhangming smoothtrajectoryplanningforrobotundermultipleconstraint |