Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Abstract

The coordinated motion between the press and the feeding mechanism directly determines the production efficiency of the high-speed stamping line. In order to generate the high-performance trajectory of the feeding mechanism, this paper investigates the optimization of the trajectory with the local variable period. Based on the quintic B-spline curve and normal distribution, the smooth interpolation method of variable-time interval is proposed to generate the collision-free and energy-jerk-minimal trajectory with variable-time intervals. The advantage of the proposed method is that it can make the feeding mechanism transition smoothly between districts of variable-time and fixed-time intervals. It is beneficial to avoid re-performing the entire process of trajectory planning. ADAMS and actual experiments are used to validate the effectiveness of the proposed method. Results show that the proposed method can maintain the high performance of the initial trajectory, and there is no sharp point in the displacement-time and velocity-time curves. The investigation provides a new direction for the direct generation of local variable-period trajectories in the multi-machine coordination of the stamping line.