Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Kuo, Yong-Lin; Lin, Chia-Hsiang; Lin, Zheng-Ting

doi:10.1177/1729881420920046

Cited by 15 publications

(22 citation statements)

References 34 publications

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“…Then, the jerk and time of each section can be obtained with the same procedures in step 4. (6) Step 6: Abandoning the displacement condition When coming to this step, it means the displacement condition cannot be satisfied with F mc . Meanwhile, v e should be guaranteed.…”

Section: Sub-step 44: Velocity Planning In Region R1mentioning

confidence: 99%

“…The most common used velocity planning methods for PVT control are cubic and quintic polynomial interpolation algorithms. [2][3][4][5][6][7] Each PVT command is used as the planning interval to construct the trajectory by cubic or quintic polynomial functions. And the conditions of PVT command at the end of command interval can always be satisfied.…”

Section: Introductionmentioning

confidence: 99%

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Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Liu

et al. 2022

International Journal of Advanced Robotic Systems

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Position–velocity–time control mode has been wildly used in industrial application. And velocity planning is one of the most important factors to determine the performance of position–velocity–time motion. To generate smooth trajectory while satisfying the kinematic constraints of the devices such as the maximum velocity, acceleration, and jerk, a novel velocity planning method is proposed. Firstly, a modified S-shaped acceleration/deceleration algorithm is designed to restrict the kinematic parameters. Meanwhile, a series of rules are specified to constrain the velocity profile to simplify the velocity planning process. On this basis, the velocity planning method is proposed based on the modified acceleration/deceleration algorithm. For reasonable position–velocity–time command, the given position–velocity–time conditions can be satisfied with smooth velocity profile, where the kinematic parameters can be limited in their allowable ranges. For unreasonable position–velocity–time commands, a series of planning strategies are designed to adjust the given conditions according to the user needs, which is suitable for the real application. The comparative experiments show that the proposed method can realize the velocity planning for position–velocity–time motion with smooth trajectory while restricting the kinematic parameters. The computational load is also tested to satisfy the real-time requirement. Therefore, the proposed velocity planning method has good performance and strong practicability.

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Section: Sub-step 44: Velocity Planning In Region R1mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Liu

et al. 2022

International Journal of Advanced Robotic Systems

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“…A segmented conic NURBS curve can be derived as (9) where Two adjacent curve segments Ct(u) and Ct+1(u) should be constructed based on the boundary conditions given below: (10)…”

Section: Fig 8 Calculation Of the Basic Functionsmentioning

confidence: 99%

“…Erdos et al [8] used an offline programming toolbox to realize the remote laser welding path planning for car doors. Using Bézier and B-spline curves, Kuo et al [9] proposed a virtual node interpolation method for trajectory generation for hard-disk dispensing.…”

Section: Introductionmentioning

confidence: 99%

Automatic trajectory generation for metal surface droplet coloring

Shen¹,

Ren

Fu³

et al. 2022

Preprint

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In this study, an automatic trajectory-generation algorithm is proposed to achieve uniform droplet coloring on the metal surfaces. First, by taking into account key parameters such as contact angle, surface tension, and droplet mass, the coloring technology was analyzed, and the size of a droplet was estimated. Then, the zones of the same color as those in the color reference pattern image were extracted and grouped by pixel searching. Zone erosion and pixel points-sorting algorithms were used to select trajectory points successively. Subsequently, nonuniform rational B-splines (NURBS) curves were used to interpolate the sorted trajectory points and generate G1 continuous curves. Finally, the continuous curves were discretized, and coloring trajectories were generated. Experimental results showed that the proposed algorithm achieved automatic color block extraction, arbitrary trajectory generation, and uniform surface coloring.

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“…In order to show the ability of the proposed algorithm in practical application as much as possible, a 2-DOF robot model is established by using MATLAB/Simscape to verify the performance of the proposed algorithm in repetitive control and compare with the conventional B-spline and rational B-spline optimization algorithms [29]. Due to the limitation of hardware, more parameters are introduced in Simscape, which leads to the slow operation speed.…”

Section: Simulationmentioning

confidence: 99%

Repetitive Control Scheme of Robotic Manipulators Based on Improved B‐Spline Function

Wang

et al. 2021

Complexity

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In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of cases are designed and simulated by MATLAB. The experimental results show that, compared with the conventional B-spline, the improved B-spline has better performance in tracking accuracy and smoothness of motion trajectory. By changing the mechanism of the manipulator, the cases of different weights and lengths are designed. The experimental results in these cases show that the proposed scheme can be applied to most of the 2-DOF robotic manipulator control systems.

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Dual-optimization trajectory planning based on parametric curves for a robot manipulator

Cited by 15 publications

References 34 publications

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Automatic trajectory generation for metal surface droplet coloring

Repetitive Control Scheme of Robotic Manipulators Based on Improved B‐Spline Function

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