Time-optimal and jerk-continuous trajectory planning algorithm for manipulators

被引：0

作者：

Zhu S. ^{[1
]}

Liu S. ^{[1
,2
]}

Wang X. ^{[1
]}

Wang H. ^{[1
]}

机构：

[1] State Key Lab. of Fluid Power Transmission and Control, Zhejiang University

[2] Ningbo Institute of Measurement and Testing

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2010年 / 46卷 / 03期

关键词：

Continuous jerk; Manipulator; Optimal execution time; Sequential quadratic programming; Trajectory planning;

D O I：

10.3901/JME.2010.03.047

中图分类号：

学科分类号：

摘要：

In order to optimize the productivity and ensure the running stability of manipulators, a new optimal trajectory planning algorithm is proposed. Position series in joint space are obtained by applying inverse kinematic algorithm to a specified trajectory in task space, and B-splines of seven degree are exploited to interpolate joint position series and generate joint trajectories with continuous velocity, acceleration and jerk, as well as controllable start-stop kinematic parameters. By converting kinematic constraints of manipulators to constraints on control points of B-splines, optimal time nodes are solved by using sequential quadratic programming strategy, then time-optimal and jerk-continuous trajectories which satisfy nonlinear kinematic constraints are planned. Simulating and experimental results show that the proposed trajectory planning algorithm provides ideal trajectories for joint controller, and ensures manipulators to track any specified trajectory in task space stably with the minimum traveling time. © 2010 Journal of Mechanical Engineering.

引用

页码：47 / 52

页数：5

共 8 条

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