Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion pr...

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Bibliographic Details
Main Authors: Shengqiao Hu, Huimin Kang, Hao Tang, Zhengjie Cui, Zhicheng Liu, Puren Ouyang
Format: Article
Language:English
Published: MDPI AG 2021-04-01
Series:Actuators
Subjects:
redundant parallel robot
joint space
trajectory optimization
12-phase sine jerk motion profile
penalty function
Online Access:https://www.mdpi.com/2076-0825/10/4/80

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