An efficient acceleration for fast motion of industrial robots

摘要

To make fast motion with minimal vibration in industrial robots, it is necessary to generate smooth trajectories efficiently. Some trajectory planning techniques using software or hardware methods have been proposed to generate smooth velocity profiles. The problem in these techniques is that the time required to generate velocity profiles is too long or the order of velocity profiles is fixed. In this paper, an efficient trajectory generation technique to generate smooth velocity profiles for fast motion is proposed. The velocity after the acceleration is determined for a given movement and then a smooth velocity profile is generated by using some pre-determined coefficients. The comparison of the proposed technique and the existing techniques show that the proposed technique is more efficient and is able to reduce the moving time of robots.