Dynamics based time-optimal smooth motion planning for the delta robot

Zhang, Yunqiang; Huang, Ruining; Lou, Yunjiang; Li, Zigang

doi:10.1109/robio.2012.6491227

Cited by 11 publications

(8 citation statements)

References 12 publications

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“…Rewriting Eqs. (8) and (9) in matrix form then yields the solution to the control points 0 0 0 0 0 0 n n n n n n n n n n…”

Section: Generation Of a Motion Profile Along An Axis Using Quintic Bmentioning

confidence: 99%

“…This is exemplified by the many very successful applications of Delta robots and similar types [1][2][3][4][5]. From a system viewpoint, the capability and efficiency of high-speed pick-and-place parallel robots clearly depends on desirable dynamic characteristics and good quality computer control, but also requires sound trajectory planning for achieving superior performance in terms of smoother joint torques, lower residual vibrations and shorter cycle times [6][7][8][9]. Large amounts of effort have been devoted to trajectory planning of pick-and-place operations over the last few decades.…”

Section: Introductionmentioning

confidence: 99%

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An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

Huang

Chetwynd

2018

Mechanism and Machine Theory

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2018) An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines. Mechanism and Machine Theory,. A note on versions:The version presented here may differ from the published version or, version of record, if you wish to cite this item you are advised to consult the publisher's version. Please see the 'permanent WRAP url' above for details on accessing the published version and note that access may require a subscription.For more information, please contact the WRAP Abstract: This paper presents a new, highly effective approach for optimal smooth trajectory planning of high-speed pick-and-place parallel robots. The pick-and-place path is decomposed into two orthogonal coordinate axes in the Cartesian space and quintic B-spline curves are used to generate the motion profile along each axis for achieving C 4 -continuity. By using symmetrical properties of the geometric path defined, the proposed motion profile becomes essentially dominated by two key factors, representing the ratios of the time intervals for the end-effector to move from the initial point to the adjacent virtual and/or the via-points on the path. These two factors can then be determined by maximizing a weighted sum of two normalized single-objective functions and expressed by curve fitting as functions of the width/height ratio of the pick-and-place path, so allowing them to be stored in a look-up table to enable real-time implementation. Experimental results on a 4-DOF SCARA type parallel robot show that the residual vibration of the end-effector can be substantially reduced thanks to the very continuous and smooth joint torques obtained.

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“…Rewriting Eqs. (8) and (9) in matrix form then yields the solution to the control points 0 0 0 0 0 0 n n n n n n n n n n…”

Section: Generation Of a Motion Profile Along An Axis Using Quintic Bmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

Huang

Chetwynd

2018

Mechanism and Machine Theory

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“…Thus, the poor flexibility and inefficiency of these strategies severely limit their applications. 27 Also, the performance is mainly determined by the characteristics of the production line, even trajectory optimization is adopted, the performance still cannot be improved significantly. 28 Especially with dense distribution of high-speed sorting system, the path planning is increasingly important.…”

Section: Problem Descriptionmentioning

confidence: 99%

Simultaneous path planning and trajectory optimization for high-speed sorting system

Zhang

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a strategy for efficient sorting path planning and trajectory optimization with multiple constraints. The proposed strategy is applicable to typical high-density sorting applications. It plans the sorting path while optimizing each trajectory. The total stroke traveled by the end effector to complete the sorting task is shortened, and the efficiency of the production line is correspondingly facilitated. Thus, this article designs bow-shaped trajectories by analyzing the work process of the production line to ensure the smooth transition of the end effector and bow-shaped trajectories are based on the starting point and the end point of each sorting action. The modified trapezoidal acceleration and deceleration algorithm is used to optimize each sorting trajectory, which ensures that each sorting action is executed quickly and stably. Simultaneously, the greedy strategy is applied to plan the sorting task, which further shortens the total stroke of the end effector and improves the efficiency of the production line. A specific cost function is also designed to improve the planning strategy to prevent the occurrence of missing materials and enhance the adaptability of the sorting system. In consideration of the efficiency of the sorting system is significantly improved by this approach, the effectiveness of the proposed strategy in this article is thus verified compared with existing ones by experiments. In addition, the impact of the conveyor speed on the sorting system is also discussed.

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“…model-based feedforward control of actuator speed and torque for a given motion profile. The motion profile can further be optimized regarding motion time and smoothness based on the robot dynamics, as shown in [13] for high-speed pick and place applications.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization for the Handling of Elastically Coupled Objects via Reinforcement Learning and Flatness-Based Control

Kaczor

Bensch

Schappler

et al. 2020

Annals of Scientific Society for Assembly, Handling and Industrial Robotics

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Positioning objects in industrial handling applications is often compromised by elasticity-induced oscillations reducing the possible motion time and thereby the performance and profitability of the automation solution. Existing approaches for oscillation reduction mostly focus on the elasticity of the handling system itself, i.e. the robot structure. Depending on the task, elastic parts or elastic grippers like suction cups strongly influence the oscillation and prevent faster positioning. In this paper, the problem is investigated exemplarily with a typical handling robot and an additional end effector setup representing the elastic load. The handling object is modeled as a base-excited spring and mass, making the proposed approach independent from the robot structure. A model-based feed-forward control based on differential flatness and a machine-learning method are used to reduce oscillations solely with a modification of the end effector trajectory of the robot. Both methods achieve a reduction of oscillation amplitudes of 85 % for the test setup, promising a significant increase in performance. Further investigations on the uncertainty of the parameterization prove the applicability of the not yet widely-used learning approach in the field of oscillation reduction.

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Dynamics based time-optimal smooth motion planning for the delta robot

Cited by 11 publications

References 12 publications

An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines

Simultaneous path planning and trajectory optimization for high-speed sorting system

Trajectory Optimization for the Handling of Elastically Coupled Objects via Reinforcement Learning and Flatness-Based Control

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