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Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm

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Abstract

Multi-joint industrial robots are widely used in many fields such as transportation, welding, and assembling. In order to meet the requirements of efficient and synchronous robot motion, a multi-axis real-time synchronous look-ahead trajectory planning algorithm is proposed based on dynamically given position and velocity sequences under the constraint of maximum velocity and acceleration of each joint axis. In addition, an efficient transition processing method is proposed to satisfy the smooth transition between adjacent trajectory segments. Furthermore, the trajectory planning methods of real-time velocity tuning is further investigated to meet the requirements in practical application of industrial robot. At last, the performance of the proposed algorithm is verified by simulation, and the feasibility of the algorithm in practical applications is demonstrated experimentally.

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All data generated or analyzed during this study are included in this published article.

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Funding

This study is supported by the National Natural Science Foundation of China (No. 51905384) and Research Initiation Fund of Wuyi University (No. 409170190241).

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Authors and Affiliations

  1. Wuyi University, Jiangmen, 529020, China

    Yanyang Liang, Chaozhi Yao, Wei Wu, Li Wang & Qiongyao Wang

Authors
  1. Yanyang Liang
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  2. Chaozhi Yao
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  3. Wei Wu
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  4. Li Wang
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  5. Qiongyao Wang
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Contributions

Yanyang Liang performed the design of the algorithm and the writing of the manuscript. Chaozhi Yao and Wei Wu performed the code writing and experimental analysis. Li Wang and Qiongyao Wang organized the paper and revised the manuscript.

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Correspondence to Yanyang Liang.

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Liang, Y., Yao, C., Wu, W. et al. Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm. Int J Adv Manuf Technol 119, 4991–5009 (2022). https://doi.org/10.1007/s00170-021-08503-3

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