Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots
This work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this work can cause the acceleration and jerk to stay in a saturated state in order to improve the efficiency of a robot’s pr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/5/1135 |
| _version_ | 1797615516369551360 |
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| author | Guanglei Wu Ning Zhang |
| author_facet | Guanglei Wu Ning Zhang |
| author_sort | Guanglei Wu |
| collection | DOAJ |
| description | This work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this work can cause the acceleration and jerk to stay in a saturated state in order to improve the efficiency of a robot’s programming and operation. Moreover, a multi-axis synchronization planning algorithm is proposed and integrated for enhanced motion stability in terms of generated synchronized and continuous motion trajectories, for which the effectiveness of the proposed trajectory planning algorithm is verified in both the joint and Cartesian spaces. The proposed algorithm does not involve any optimization procedures or iterative processes, as the kinematically constrained trajectory is generated by polynomial equations to realize the real-time motion control of robots. Moreover, the presented algorithm can generate the jerk continuity trajectory, rather than only the acceleration continuity, as in most reported works. |
| first_indexed | 2024-03-11T07:27:37Z |
| format | Article |
| id | doaj.art-686ae9f4d4be4470bfdc74ea884e1a55 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T07:27:37Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-686ae9f4d4be4470bfdc74ea884e1a552023-11-17T07:32:09ZengMDPI AGElectronics2079-92922023-02-01125113510.3390/electronics12051135Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial RobotsGuanglei Wu0Ning Zhang1School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaAVIC Optronics, No. 25, Kaiyuan West Road, Xigong District, Luoyang 471000, ChinaThis work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this work can cause the acceleration and jerk to stay in a saturated state in order to improve the efficiency of a robot’s programming and operation. Moreover, a multi-axis synchronization planning algorithm is proposed and integrated for enhanced motion stability in terms of generated synchronized and continuous motion trajectories, for which the effectiveness of the proposed trajectory planning algorithm is verified in both the joint and Cartesian spaces. The proposed algorithm does not involve any optimization procedures or iterative processes, as the kinematically constrained trajectory is generated by polynomial equations to realize the real-time motion control of robots. Moreover, the presented algorithm can generate the jerk continuity trajectory, rather than only the acceleration continuity, as in most reported works.https://www.mdpi.com/2079-9292/12/5/1135trajectory planningkinematic constraintsS-curvejerk continuitytime synchronization |
| spellingShingle | Guanglei Wu Ning Zhang Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots Electronics trajectory planning kinematic constraints S-curve jerk continuity time synchronization |
| title | Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots |
| title_full | Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots |
| title_fullStr | Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots |
| title_full_unstemmed | Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots |
| title_short | Kinematically Constrained Jerk–Continuous S-Curve Trajectory Planning in Joint Space for Industrial Robots |
| title_sort | kinematically constrained jerk continuous s curve trajectory planning in joint space for industrial robots |
| topic | trajectory planning kinematic constraints S-curve jerk continuity time synchronization |
| url | https://www.mdpi.com/2079-9292/12/5/1135 |
| work_keys_str_mv | AT guangleiwu kinematicallyconstrainedjerkcontinuousscurvetrajectoryplanninginjointspaceforindustrialrobots AT ningzhang kinematicallyconstrainedjerkcontinuousscurvetrajectoryplanninginjointspaceforindustrialrobots |