Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk
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 t...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/9329131 |
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| _version_ | 1832564191314051072 |
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| author | Honggang Duan Rongmin Zhang Fei Yu Jun Gao Yuan Chen |
| author_facet | Honggang Duan Rongmin Zhang Fei Yu Jun Gao Yuan Chen |
| author_sort | Honggang Duan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-504e1e7b855a4a29ba15131114fbe1d9 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-504e1e7b855a4a29ba15131114fbe1d92025-02-03T01:11:34ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/93291319329131Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and JerkHonggang Duan0Rongmin Zhang1Fei Yu2Jun Gao3Yuan Chen4School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, ChinaSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, ChinaSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, ChinaSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, ChinaSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, ChinaThis 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.http://dx.doi.org/10.1155/2016/9329131 |
| spellingShingle | Honggang Duan Rongmin Zhang Fei Yu Jun Gao Yuan Chen Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk Journal of Robotics |
| title | Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk |
| title_full | Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk |
| title_fullStr | Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk |
| title_full_unstemmed | Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk |
| title_short | Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk |
| title_sort | optimal trajectory planning for glass handing robot based on execution time acceleration and jerk |
| url | http://dx.doi.org/10.1155/2016/9329131 |
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