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Time-optimal and Smooth Trajectory Planning for Robot Manipulators

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Abstract

This paper presents a practical time-optimal and smooth trajectory planning algorithm and then applies it to robot manipulators. The proposed algorithm uses the time-optimal theory based on the dynamics model to plan the robot’s motion trajectory, constructs the trajectory optimization model under the constraints of the geometric path and joint torque, and dynamically selects the optimal trajectory parameters during the solving process to prominently improve the robot’s motion speed. Moreover, the proposed algorithm utilizes the input shaping algorithm instead of the jerk constraint in the trajectory optimization model to achieve a smooth trajectory. The input shaping of trajectory parameters during postprocessing not only suppresses the residual vibration of the robot but also takes the signal delay caused by traditional input shaping into account. The combination of these algorithms makes the proposed time-optimal and smooth trajectory planning algorithm ensure absolute time optimality and achieve a smooth trajectory. The results of an experiment on a six-degree-of-freedom industrial robot indicate the validity of the proposed algorithm.

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road No.381, Tianhe District, Guangzhou, 510640, China

    Tie Zhang, Meihui Zhang & Yanbiao Zou

Authors
  1. Tie Zhang
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  2. Meihui Zhang
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  3. Yanbiao Zou
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Correspondence to Tie Zhang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Juhoon Back under the direction of Editor Myo Taeg Lim. This work was supported by the National Science and Technology Major Project of China (Grant No. 2015ZX04005006) and by the Major Project of Science and Technology Plan of Guangdong Province (Grant No. 2014B090920002).

Tie Zhang is a Professor and Doctoral Supervisor at the South China University of Technology. He received his B.S. degree in mechanical engineering from the North University of China in 1989, and his M.S. and Ph.D. degrees both in mechanical engineering from the South China University of Technology, in 1992 and 2001, respectively. His research interests include robot manipulator modeling and control, robotics application, and cooperative robots.

Meihui Zhang is currently working toward an M.S. degree in mechanical engineering at the South China University of Technology. He received his B.S. degree in mechanical engineering from the Taiyuan University of Technology in 2016. His research interests include robot manipulator modeling and control, trajectory planning and vibration control.

Yanbiao Zou is an Associate Professor at the South China University of Technology. He received his B.S. degree in electro-mechanical engineering from the China University of Petroleum in 1991, and a Ph.D. degree in mechanical design and theory from the South China University of Technology in 2005. His research interests include robot manipulator modeling and control, machine vision and machine learning.

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Zhang, T., Zhang, M. & Zou, Y. Time-optimal and Smooth Trajectory Planning for Robot Manipulators. Int. J. Control Autom. Syst. 19, 521–531 (2021). https://doi.org/10.1007/s12555-019-0703-3

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  • DOI: https://doi.org/10.1007/s12555-019-0703-3

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