Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm

被引：5

作者：

Liang, Yanyang ^{[1
]}

Yao, Chaozhi ^{[1
]}

Wu, Wei ^{[1
]}

Wang, Li ^{[1
]}

Wang, Qiongyao ^{[1
]}

机构：

[1] Wuyi Univ, Jiangmen 529020, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2022年 / 119卷 / 7-8期

基金：

中国国家自然科学基金;

关键词：

Multi axis synchronization; Look ahead; Trajectory planning; Real-time velocity tuning; CURVATURE-SMOOTH TRANSITION; ROBOT; INTERPOLATION; ACCELERATION; OPTIMIZATION; LIMITATIONS; FEEDRATE; MOTION;

D O I：

10.1007/s00170-021-08503-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Multi-joint industrial robots are widely used in many fields such as transportation, welding, and assembling. In order to meet the requirements of efficient and synchronous robot motion, a multi-axis real-time synchronous look-ahead trajectory planning algorithm is proposed based on dynamically given position and velocity sequences under the constraint of maximum velocity and acceleration of each joint axis. In addition, an efficient transition processing method is proposed to satisfy the smooth transition between adjacent trajectory segments. Furthermore, the trajectory planning methods of real-time velocity tuning is further investigated to meet the requirements in practical application of industrial robot. At last, the performance of the proposed algorithm is verified by simulation, and the feasibility of the algorithm in practical applications is demonstrated experimentally.

引用

页码：4991 / 5009

页数：19

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