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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >An approach for jerk-continuous trajectory generation of robotic manipulators with kinematical constraints
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An approach for jerk-continuous trajectory generation of robotic manipulators with kinematical constraints

机译：具有运动控制的机器人操纵器的混蛋 - 连续轨迹生成方法

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This paper proposes a methodology to generate online smooth joint trajectories of robots based on an improved sinusoidal jerk model. The multi-segment trajectory model is designed to allow a more sufficient exploitation of the actuation capability, thereby shortening the execution time while ensuring continuity up to the jerk level. Afterwards, the general mathematical expressions of the motion profiles are derived from integration of the jerk function. By analyzing the critical constraint conditions corresponding to each possible profile type, a complete closed-form solution to the minimum time planning problem with consideration of kinematic constraints has then been worked out, where a parameter named the ramp coefficient that manages the ratio of the sine jerk period is introduced to simplify the determination of the motion formulas. Thus the method results in a computationally light optimization procedure for facile implementation and enables a higher level of regularity for achieving desirable motion behaviours in light of the operation requirements and joint characteristics. Experimental results conducted on a robot manipulator reveal that the proposed approach is capable of yielding better performance than existing techniques in terms of efficiency and jerk suppression. (C) 2020 Elsevier Ltd. All rights reserved.
机译：本文提出了一种基于改进的正弦波模型产生机器人在线平滑关节轨迹的方法。多段轨迹模型被设计为允许更充分的开发致动能力，从而缩短执行时间，同时确保高达Jerk级别的连续性。之后，来自运动型材的一般数学表达式从模拟函数的集成导出。通过分析对应于每个可能的简档类型的关键约束条件，已经解决了考虑运动学约束的最小时间计划问题的完整闭合形式解决方案，然后解决了命名斜坡系数的参数，该参数管理正弦比率的斜坡系数引入了Jerk期限以简化运动公式的确定。因此，该方法导致用于容易实现的计算光优化过程，并且鉴于操作要求和关节特性，使得能够实现更高的规则性以实现所需的运动行为。在机器人操纵器上进行的实验结果表明，在效率和混蛋抑制方面，所提出的方法能够产生比现有技术更好的性能。 （c）2020 elestvier有限公司保留所有权利。

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