Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories

摘要

It is important to generate an appropriate trajectory in task space in the trajectory planning of industrial robots. Many industrial robots blend linear and circular trajectories in their trajectory generation with several advantages. However, it does not provide a detailed method for the smooth motion of position and orientation of the blending trajectory. This study proposes a circular path based trajectory blending algorithm considering time synchronization of position and orientation of the blending trajectory. This algorithm can generate a more smooth and natural motion by matching the duration time of position and orientation of the blending trajectory using a simple geometric shape based equations. The proposed algorithm was evaluated using a 7 DOF industrial manipulator. The experimental results show that the proposed algorithm can operate stably for various cases.