Trajectory Planning of Time Optimal Manipulator based on Complex Method
At present， the operate time of the most manipulators are not optimally during the working process. In order to improve the working efficiency of the manipulator， a time optimal manipulator trajectory planning method based on the complex method is proposed. The method of 5-7-5 polynomial interpolati...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.013 |
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| _version_ | 1841548777088876544 |
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| author | Han Chen Linsheng Li |
| author_facet | Han Chen Linsheng Li |
| author_sort | Han Chen |
| collection | DOAJ |
| description | At present， the operate time of the most manipulators are not optimally during the working process. In order to improve the working efficiency of the manipulator， a time optimal manipulator trajectory planning method based on the complex method is proposed. The method of 5-7-5 polynomial interpolation method is taken as the basis of trajectory planning， the motion angle， motion velocity and motion acceleration are taken as constraint， the optimization is carried out by using the complex method， the time optimal motion trajectory that meets the motion requirements is obtained. The FS20N robot is used as the object for research and analysis， and imported into MATLAB for verification， the simulation structure shows that the complex method effectively optimizes the time. |
| format | Article |
| id | doaj-art-7b476ccd10c4486c86b5e22cc77931b1 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7b476ccd10c4486c86b5e22cc77931b12025-01-10T14:01:22ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-03-0143727530639618Trajectory Planning of Time Optimal Manipulator based on Complex MethodHan ChenLinsheng LiAt present， the operate time of the most manipulators are not optimally during the working process. In order to improve the working efficiency of the manipulator， a time optimal manipulator trajectory planning method based on the complex method is proposed. The method of 5-7-5 polynomial interpolation method is taken as the basis of trajectory planning， the motion angle， motion velocity and motion acceleration are taken as constraint， the optimization is carried out by using the complex method， the time optimal motion trajectory that meets the motion requirements is obtained. The FS20N robot is used as the object for research and analysis， and imported into MATLAB for verification， the simulation structure shows that the complex method effectively optimizes the time.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.013ManipulatorPolynomial interpolationTrajectory planningMotion constraintComplex methodTime optimal |
| spellingShingle | Han Chen Linsheng Li Trajectory Planning of Time Optimal Manipulator based on Complex Method Jixie chuandong Manipulator Polynomial interpolation Trajectory planning Motion constraint Complex method Time optimal |
| title | Trajectory Planning of Time Optimal Manipulator based on Complex Method |
| title_full | Trajectory Planning of Time Optimal Manipulator based on Complex Method |
| title_fullStr | Trajectory Planning of Time Optimal Manipulator based on Complex Method |
| title_full_unstemmed | Trajectory Planning of Time Optimal Manipulator based on Complex Method |
| title_short | Trajectory Planning of Time Optimal Manipulator based on Complex Method |
| title_sort | trajectory planning of time optimal manipulator based on complex method |
| topic | Manipulator Polynomial interpolation Trajectory planning Motion constraint Complex method Time optimal |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.013 |
| work_keys_str_mv | AT hanchen trajectoryplanningoftimeoptimalmanipulatorbasedoncomplexmethod AT linshengli trajectoryplanningoftimeoptimalmanipulatorbasedoncomplexmethod |