Smooth trajectory planning for parallel manipulator with joint friction torque

被引:1
作者
Liu, Liang [1 ]
Chen, Chaoying [1 ]
Zhao, Xinhua [2 ]
机构
[1] School of Mechanical Engineering, Tianjin University, Tianjin
[2] School of Mechanical Engineering, Tianjin University of Technology, Tianjin
来源
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2014年 / 50卷 / 19期
关键词
Friction torque; Parallel manipulator; Time-optimal; Trajectory planning;
D O I
10.3901/JME.2014.19.009
中图分类号
学科分类号
摘要
A new smooth and near time-optimal trajectory planning approach is proposed for a parallel manipulator along a specified path. Compared with conventional planning algorithms based on dynamics, the fully dynamic model of the robot is constructed by virtual work principle with consideration of friction torque in every revolute joint. The kinematic and dynamic constraints can be converted to a pseudo-velocity limitation curve, and then a pseudo-acceleration boundary curve is calculated, both of which can determine the constraints to be obeyed by the planning algorithm. The five-order polynomial spline is applied to intersect the motion curves smoothly for the state, velocity, and acceleration in phase plane, which can guarantee the continuity of the torque, joint velocity and acceleration. The effectiveness of the planning algorithm is verified by an experiment for a parallel robot. The results show the differences between the trajectory planning of serial and parallel robot, and the feasibility of the method which can be used to online application for similar industrial robots. © 2014 Journal of Mechanical Engineering
引用
收藏
页码:9 / 17
页数:8
相关论文
共 23 条
  • [1] Bobrow J.E., Dubowsky S., Gibson J.S., Time-optimal control of robotic manipulators along specified paths , The International Journal of Robotics Research, 4, 3, pp. 3-17, (1985)
  • [2] Bobrow J.E., Optimal robot path planning using the minimum-time criterion , IEEE Transactions on Robotics and Automation, 4, 4, pp. 443-450, (1988)
  • [3] Shin K.G., Mckay N.D., Minimum-time control of robotic manipulators with geometric path constraints , IEEE Transactions on Automatic Control, 30, 5, pp. 531-541, (1985)
  • [4] Pfeiffer F., Johanni R., A concept for manipulator trajectory planning , IEEE Transactions on Robotics and Automation, 3, 2, pp. 115-123, (1987)
  • [5] Chen Y., Desrochers A.A., Structure of minimum-time control law for robotic manipulators with constrained paths, IEEE Council on Robotic and Automation. Proceedings of the IEEE International Conference on Robotics and Automation, pp. 971-976, (1989)
  • [6] Shiller Z., Lu H.H., Computation of path constrained time optimal motions with dynamic singularities , ASME Journal of Dynamic Systems, Measurement, and Control, 114, 1, pp. 34-40, (1992)
  • [7] Shiller Z., On singular time-optimal control along specified paths , IEEE Transactions on Robotics and Automation, 10, 4, pp. 561-566, (1994)
  • [8] Constantinescu D., Croft E.A., Smooth and time-optimal trajectory planning for industrial manipulators along specified paths , Journal of Robotic Systems, 17, 5, pp. 233-249, (2000)
  • [9] Verscheure D., Demeulenaere B., Swevers J., Et al., Time-optimal path tracking for robots: A convex optimization approach , IEEE Transactions on Automatic Control, 54, 10, pp. 2318-2327, (2009)
  • [10] Gasparetto A., Zanotto V., A new method for smooth trajectory planning of robot manipulators , Mechanism and Machine Theory, 42, 4, pp. 455-471, (2007)