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Experimental Validation of Minimum Time-jerk Algorithms for Industrial Robots

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Abstract

In this paper, we present a minimum-time/jerk algorithm for trajectory planning and its experimental validation. The algorithm search for a trade-off between the need for a short execution time and the requirement of a sufficiently smooth trajectory, which is the well known necessary condition to limit the vibration during fast movements. The trade-off is achieved by adjusting the weight of two suitable functions, able to consider both the execution time and the squared-jerk integral along the whole trajectory. The main feature of this algorithm is its ability to smooth the trajectory’s profile by adjusting the intervals between two consecutive via-points so that the overall time is minimally delayed. The practical importance of this technique lies in the fact that it can be implemented in any industrial manipulator without a hardware upgrade. The algorithm does not need for a dynamic model of the robot: only the mechanical constraints on the position, velocity and acceleration ranges have to be set a priori. The experimental proof is provided in this paper by comparing the results of the proposed algorithm with those obtained by adopting some classical algorithms.

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Authors and Affiliations

  1. Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Universita’ di Udine, 33100, Udine, Italia

    Vanni Zanotto, Alessandro Gasparetto, Albano Lanzutti, Paolo Boscariol & Renato Vidoni

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  1. Vanni Zanotto
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  2. Alessandro Gasparetto
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  3. Albano Lanzutti
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  4. Paolo Boscariol
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  5. Renato Vidoni
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Correspondence to Vanni Zanotto.

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Zanotto, V., Gasparetto, A., Lanzutti, A. et al. Experimental Validation of Minimum Time-jerk Algorithms for Industrial Robots. J Intell Robot Syst 64, 197–219 (2011). https://doi.org/10.1007/s10846-010-9533-5

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  • DOI: https://doi.org/10.1007/s10846-010-9533-5

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