Smooth and proximate time-optimal trajectory planning of robotic manipulators
TRANSACTION OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING(2022)
摘要
The simultaneous achievement of high accuracy and productivity in robotics has been extensively investigated using the trajectory planning approach. We propose a smooth and proximate time-optimal trajectory planning method. First, we generated the velocity limit curve by expressing joint torque and joint velocity constraints as a function of the path coordinate. Then, we calculated the time-optimal trajectory using a dynamic programming technique and fitted the smooth cubic spline. The smoothing factor of the cubic spline curve was optimized by applying a binary recursive. The proposed method can guarantee the continuity and smoothness of joint torque. The simulation results showed that the proposed method can reduce joint-jerk and improve the tracking accuracy of the controller.
更多查看译文
关键词
trajectory planning, time-optimal, cubic splines, dynamic model
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要