Trajectory Planning of Robot based on the Jerk Optimal
According to the need of the stability and complexity of the robot trajectory path,a method of Cartesian space trajectory planning based on the Jerk optimal is presented,a smooth and stable robot motion trajectory is obtained. The trajectory path is imposed through limits on the waypoints in the Car...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.020 |
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| _version_ | 1841547671438884864 |
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| author | Wang Wenjie Qin Xiansheng Wang Hongbo Niu Junlong Tan Xiaoqun Zhang Xuefeng |
| author_facet | Wang Wenjie Qin Xiansheng Wang Hongbo Niu Junlong Tan Xiaoqun Zhang Xuefeng |
| author_sort | Wang Wenjie |
| collection | DOAJ |
| description | According to the need of the stability and complexity of the robot trajectory path,a method of Cartesian space trajectory planning based on the Jerk optimal is presented,a smooth and stable robot motion trajectory is obtained. The trajectory path is imposed through limits on the waypoints in the Cartesian space,the continuous differentiable cosine curve is used to interpolate the robot trajectory path between the waypoints,and the expected joint angle of robot is calculated by solving the inverse kinematics. Finally,the trajectory planning method is validated through simulations and experiments on NAO robot. The experimental results show that the smoothness and stability of the trajectory path is excellent,the experiment task action are completed successfully. |
| format | Article |
| id | doaj-art-916dba8f7628491fbe19b0a52c1fa462 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-916dba8f7628491fbe19b0a52c1fa4622025-01-10T14:22:05ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141939629931120Trajectory Planning of Robot based on the Jerk OptimalWang WenjieQin XianshengWang HongboNiu JunlongTan XiaoqunZhang XuefengAccording to the need of the stability and complexity of the robot trajectory path,a method of Cartesian space trajectory planning based on the Jerk optimal is presented,a smooth and stable robot motion trajectory is obtained. The trajectory path is imposed through limits on the waypoints in the Cartesian space,the continuous differentiable cosine curve is used to interpolate the robot trajectory path between the waypoints,and the expected joint angle of robot is calculated by solving the inverse kinematics. Finally,the trajectory planning method is validated through simulations and experiments on NAO robot. The experimental results show that the smoothness and stability of the trajectory path is excellent,the experiment task action are completed successfully.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.020RobotJerk optimalCartesian spaceTrajectory planning |
| spellingShingle | Wang Wenjie Qin Xiansheng Wang Hongbo Niu Junlong Tan Xiaoqun Zhang Xuefeng Trajectory Planning of Robot based on the Jerk Optimal Jixie chuandong Robot Jerk optimal Cartesian space Trajectory planning |
| title | Trajectory Planning of Robot based on the Jerk Optimal |
| title_full | Trajectory Planning of Robot based on the Jerk Optimal |
| title_fullStr | Trajectory Planning of Robot based on the Jerk Optimal |
| title_full_unstemmed | Trajectory Planning of Robot based on the Jerk Optimal |
| title_short | Trajectory Planning of Robot based on the Jerk Optimal |
| title_sort | trajectory planning of robot based on the jerk optimal |
| topic | Robot Jerk optimal Cartesian space Trajectory planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.020 |
| work_keys_str_mv | AT wangwenjie trajectoryplanningofrobotbasedonthejerkoptimal AT qinxiansheng trajectoryplanningofrobotbasedonthejerkoptimal AT wanghongbo trajectoryplanningofrobotbasedonthejerkoptimal AT niujunlong trajectoryplanningofrobotbasedonthejerkoptimal AT tanxiaoqun trajectoryplanningofrobotbasedonthejerkoptimal AT zhangxuefeng trajectoryplanningofrobotbasedonthejerkoptimal |