Trajectory Planning of an End-Effector for Path with Loop

Abstract

This paper presents an algorithm for rectilinear-arc trajectory planning whose path is composed of two rectilinear segments connected with a loop-shaped arc. The algorithm can be used in solutions with high speed cornering applications. During the realization of the given trajectory, the end-effector passed through the corner twice and the time difference is, simultaneously, the time of loop tracking. On the rectilinear segments, end-effector acceleration was described by a 7 th degree polynomial, whereas the velocity while moving through a loop was a constant value. The results of the trajectory planning are presented as courses of displacements, speeds and accelerations of the end-effector and displacements, speeds and accelerations in kinematic pairs of the three manipulators.

Development of articulated robot trajectory planning

“…The pulse optimal trajectory planning based on cubic spline function is studied in literature (Saravanan et al, 2009). The minimum pulse and pulse continuous trajectory planning method is proposed in literature (Boryga, 2014;Valero et al, 2006). The method can avoid vibration of mechanical arm and improve the trajectory tracking precision.…”

The Use of Asymmetric Polynomial Profiles for Planning a Smooth Trajectory

“…They used 5th, 7th and 9th degree polynomials to describe the acceleration profile, with a constraint acceleration. Subsequent papers used polynomials of higher degrees to describe trajectories for various applications [34][35][36][37][38]. Mohamed et al [39] used 6th, 5th, 4th and 3rd degree polynomials as well as cycloidal formula and elliptical formula to trajectory planning of a surgical micro-robot.…”

Design of an Apple-Picking End Effector

“…The motion space of the fingertip of finger 1 relative to the base coordinate refers to the motion space of the point at the location of (0,0,0) , as shown in Eq. (17). p c a c a c a …”

“…The joint angular velocity of the end effector can be calculated by adopting the parabola-straight line velocity curve planning algorithm, so that the motion of the end effector can be stabilized [16] and [17].…”