An efficient trajectory generation for industrial robots

摘要

An efficient trajectory generation for smooth velocity profiles whose shape can be changed easily is proposed for industrial robots. A time-optimal velocity profile is generated for a given movement and then a smooth velocity profile with finite jerk is generated by multiplying its corresponding ratio with the time optimal velocity profile in every sampling time. The comparison of the time complexities of the proposed technique and the existing techniques shows that the proposed technique is more efficient. Since velocity profiles generated by the proposed technique are able to have a different acceleration interval from the deceleration interval, the jerk quantity at the stop point which determines the multiplying of vibration can be made less than that at the start point which is not related to the magnitude of vibration. This means that the proposed technique can reduce the movement time and the vibration simultaneously.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>