New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints
A method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6 DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the ta...
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| Format: | Article |
| Language: | English |
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Lublin University of Technology
2024-06-01
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| Series: | Advances in Sciences and Technology |
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| Online Access: | http://www.astrj.com/New-Approach-to-Planning-the-Complex-Movements-of-6-DOF-Industrial-Robot-Subjected,186361,0,2.html |
| _version_ | 1797198896657596416 |
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| author | Grzegorz Pająk |
| author_facet | Grzegorz Pająk |
| author_sort | Grzegorz Pająk |
| collection | DOAJ |
| description | A method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6 DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the task of the robot by autonomous systems in smart factories eliminating human participation in the robot programing process. Opposite to similar approaches it does not assume the type of function describing the motion of the robot. The trajectories generated using the proposed approach are smooth and provide smooth velocities and continuous joint accelerations. The motion is planned in such a way to fulfill joint velocity and acceleration constraints. Fulfillment of velocity limitations is accomplished by perturbing the manipulator motion close to velocity limits. To satisfy acceleration constraints a trajectory scaling approach carried out in limited periods of time is used. The results of the research are illustrated by simulations and experiments, in which an analysis of the method of performing robot tasks carried out using built-in algorithms and presented methods are performed. |
| first_indexed | 2024-04-24T07:07:09Z |
| format | Article |
| id | doaj.art-04c804877cb448e3a3051b8c1d663d9f |
| institution | Directory Open Access Journal |
| issn | 2080-4075 2299-8624 |
| language | English |
| last_indexed | 2024-04-24T07:07:09Z |
| publishDate | 2024-06-01 |
| publisher | Lublin University of Technology |
| record_format | Article |
| series | Advances in Sciences and Technology |
| spelling | doaj.art-04c804877cb448e3a3051b8c1d663d9f2024-04-21T18:13:26ZengLublin University of TechnologyAdvances in Sciences and Technology2080-40752299-86242024-06-0118331433210.12913/22998624/186361186361New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration ConstraintsGrzegorz Pająk0https://orcid.org/0000-0002-3649-399XInstitute of Mechanical Engineering University of Zielona Góra Licealna 9 Street 65-417 Zielona Góra, PolandA method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6 DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the task of the robot by autonomous systems in smart factories eliminating human participation in the robot programing process. Opposite to similar approaches it does not assume the type of function describing the motion of the robot. The trajectories generated using the proposed approach are smooth and provide smooth velocities and continuous joint accelerations. The motion is planned in such a way to fulfill joint velocity and acceleration constraints. Fulfillment of velocity limitations is accomplished by perturbing the manipulator motion close to velocity limits. To satisfy acceleration constraints a trajectory scaling approach carried out in limited periods of time is used. The results of the research are illustrated by simulations and experiments, in which an analysis of the method of performing robot tasks carried out using built-in algorithms and presented methods are performed.http://www.astrj.com/New-Approach-to-Planning-the-Complex-Movements-of-6-DOF-Industrial-Robot-Subjected,186361,0,2.htmltrajectory planningwaypointsvelocity and acceleration constraintsindustrial robot |
| spellingShingle | Grzegorz Pająk New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints Advances in Sciences and Technology trajectory planning waypoints velocity and acceleration constraints industrial robot |
| title | New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints |
| title_full | New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints |
| title_fullStr | New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints |
| title_full_unstemmed | New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints |
| title_short | New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints |
| title_sort | new approach to planning the complex movements of 6 dof industrial robot subjected to acceleration constraints |
| topic | trajectory planning waypoints velocity and acceleration constraints industrial robot |
| url | http://www.astrj.com/New-Approach-to-Planning-the-Complex-Movements-of-6-DOF-Industrial-Robot-Subjected,186361,0,2.html |
| work_keys_str_mv | AT grzegorzpajak newapproachtoplanningthecomplexmovementsof6dofindustrialrobotsubjectedtoaccelerationconstraints |