Joint motion planning of industrial robot based on hybrid polynomial interpolation
نویسندگان
چکیده
To plan an industrial robot's point-to-point joint motion that has velocity constraints, the cubic polynomial interpolation planning method angular acceleration discontinuity. The quintic needs to set in advance values of target points and easily causes fluctuation. Because existence polynomials, hybrid 3-5-…-5-3 also large solve these problems, a based on quartic is proposed. Cubic applied first planning, used for rest planning. can not only specify velocities intermediate but ensure continuity acceleration. In addition, there no need so as avoid fluctuation caused by unreasonable presetting Furthermore, order excessive peaks during calculation finding out reasonable time put forward, under which larger speed at two taken maximum, thus making planned small. A case study performed verify rationality effectiveness method. Compared with other methods study, our effectively problems constrains, therefore being beneficial working performance service life robot.
منابع مشابه
Landmark-Based Robot Motion Planning
This paper describes a reduced version of the general motion planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. This algorithm computes a guaranteed plan by backchaining non-directional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that landmarks are scattered across the workspace, that ...
متن کاملMobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملJoint Manifolds and Markov Decision Process in Robot Motion Planning
Learning trajectories for a robot in unknown environments which can be generalized to different types of robots is a challenging problem. The input space is very high dimensional and any type of algorithm and computation has a very high time complexity and challenging to define problems in such a high state space. Applying low-dimensional reduction to such problems does the trick for us. We can...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Xibei gongye daxue xuebao
سال: 2022
ISSN: ['1000-2758', '2609-7125']
DOI: https://doi.org/10.1051/jnwpu/20224010084