The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volume 538)
• Pages: 367-370
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.538.367
• Online since: April 2014
• Authors: Zhi Jian Gou*, Cheng Wang
• Keywords: ADAMS Simulation, B-Splines, Robot Manipulators, Trajectory Planning

References

[1] LI Cheng, XIE Zhijiang, NI Wei, et al. Establishment of jacobian matrix and singularity analysis of a 6-DOF installing-calibrating robot[J]. China Mechanical Engineering, (2011).

[2] Yao-Chon Chen. Solving robot trajectory planning problems with uniform cubic B-splines[J]. Optimal Control Applications & Methods, 1991, 12: 247-262.

DOI: 10.1002/oca.4660120404

[3] A. Gasparetto, V. Zanotto. A new method for smooth trajectory planning of robot manipulators[J]. Mechanism and Machine Theory, Vol. 42 (2007) p.455.

DOI: 10.1016/j.mechmachtheory.2006.04.002

[4] LIU Songguo, ZHU Shiqiang, WU Wenxiang. Smoothness-optimal trajectory planning method with constraint on traveling time for manipulators[J]. Electric Machines And Congtrol, (2009).

[5] MAO Zhengyu, LIU Zhongjian. A Trajectory planning method for cubic uniform B- spline curve[J]. China Mechanical Engineering, (2010).