The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-order B-splines

被引：3

作者：

Gou, Zhijian ^{[1
]}

Cheng, Wang ^{[2
]}

机构：

[1] Hangzhou Normal Univ, Qianjian Coll, Hangzhou 310012, Zhejian, Peoples R China

[2] Changchun Univ Technol, Changchun 130012, Peoples R China

来源：

MECHANICAL, ELECTRONIC AND ENGINEERING TECHNOLOGIES (ICMEET 2014) | 2014年 / 538卷

关键词：

Robot manipulators; Trajectory planning; B-splines; ADAMS simulation;

D O I：

10.4028/www.scientific.net/AMM.538.367

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS. So it provides an effective new method for the trajectory planning.

引用

页码：367 / +

页数：2