A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators
In this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure the smoothness of the motion process. The position sequences in joint space corresponding to a specified trajectory in task space are obtained by using the inverse k...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/20/11479 |
| _version_ | 1797574836095025152 |
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| author | Yaosheng Zhou Guirong Han Ziang Wei Zixin Huang Xubing Chen |
| author_facet | Yaosheng Zhou Guirong Han Ziang Wei Zixin Huang Xubing Chen |
| author_sort | Yaosheng Zhou |
| collection | DOAJ |
| description | In this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure the smoothness of the motion process. The position sequences in joint space corresponding to a specified trajectory in task space are obtained by using the inverse kinematic algorithm, and the seventh-degree B-spline curve interpolation method is used to construct the joint trajectory with controllable start–stop kinematic parameters, and continuous velocity, acceleration and jerk. The kinematic constraints of the manipulator are transformed into the control point constraints of the B-spline curve, the sequential quadratic programming method is used to solve the optimal motion time node, and then the time-optimal continuous jerk trajectory satisfying the nonlinear kinematic constraints is planned. Simulation results show that the proposed trajectory planning method provides the ideal trajectory for the joint controller, ensuring the manipulator can smoothly track any specified trajectory in the task space in the shortest time. |
| first_indexed | 2024-03-10T21:28:43Z |
| format | Article |
| id | doaj.art-c236b35df7b44d989c6bf6f798151388 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T21:28:43Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-c236b35df7b44d989c6bf6f7981513882023-11-19T15:32:45ZengMDPI AGApplied Sciences2076-34172023-10-0113201147910.3390/app132011479A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for ManipulatorsYaosheng Zhou0Guirong Han1Ziang Wei2Zixin Huang3Xubing Chen4School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaSchool of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, ChinaIn this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure the smoothness of the motion process. The position sequences in joint space corresponding to a specified trajectory in task space are obtained by using the inverse kinematic algorithm, and the seventh-degree B-spline curve interpolation method is used to construct the joint trajectory with controllable start–stop kinematic parameters, and continuous velocity, acceleration and jerk. The kinematic constraints of the manipulator are transformed into the control point constraints of the B-spline curve, the sequential quadratic programming method is used to solve the optimal motion time node, and then the time-optimal continuous jerk trajectory satisfying the nonlinear kinematic constraints is planned. Simulation results show that the proposed trajectory planning method provides the ideal trajectory for the joint controller, ensuring the manipulator can smoothly track any specified trajectory in the task space in the shortest time.https://www.mdpi.com/2076-3417/13/20/11479trajectory planningoptimal execution timecontinuous jerksequential quadratic programming |
| spellingShingle | Yaosheng Zhou Guirong Han Ziang Wei Zixin Huang Xubing Chen A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators Applied Sciences trajectory planning optimal execution time continuous jerk sequential quadratic programming |
| title | A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators |
| title_full | A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators |
| title_fullStr | A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators |
| title_full_unstemmed | A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators |
| title_short | A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators |
| title_sort | time optimal continuous jerk trajectory planning algorithm for manipulators |
| topic | trajectory planning optimal execution time continuous jerk sequential quadratic programming |
| url | https://www.mdpi.com/2076-3417/13/20/11479 |
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