Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk
Joint Authors
Duan, Honggang
Zhang, Rongmin
Yu, Fei
Gao, Jun
Chen, Yuan
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-10
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing robot runs smoothly at execution time.
The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of the acceleration, and the integral of the jerk, all of which are obtained through the weighted coefficient method.
A three-dimensional kinematics model of the glass-handing robot is then established and nonuniform fifth-order B -splines are used to interpolate its path points.
The acceleration and jerk are expressed as functions of time through mathematical simulation.
Simulation results show that the designed method for robot trajectory planning not only improves the working efficiency of the glass-handing robot but also ensures that it runs smoothly.
American Psychological Association (APA)
Duan, Honggang& Zhang, Rongmin& Yu, Fei& Gao, Jun& Chen, Yuan. 2016. Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk. Journal of Robotics،Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1110290
Modern Language Association (MLA)
Duan, Honggang…[et al.]. Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk. Journal of Robotics No. 2016 (2016), pp.1-9.
https://search.emarefa.net/detail/BIM-1110290
American Medical Association (AMA)
Duan, Honggang& Zhang, Rongmin& Yu, Fei& Gao, Jun& Chen, Yuan. Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1110290
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110290