Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints

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• 作者：Liang Liu ; Chaoying Chen ; Xinhua Zhao…
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：14
• 期：4
• 页码：1022-1036
• 全文大小：2,855 KB
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092
• 卷排序：14

文摘

In order to achieve better tracking accuracy effectively, a new smooth and near time-optimal trajectory planning approach is proposed for a parallel manipulator subject to kinematic and dynamic constraints. The complete dynamic model is constructed with consideration of all joint frictions. The presented planning problem can be solved efficiently by formulating a new limitation curve for dynamic constraints and a reduced form for jerk constraints. The motion trajectory is planned with quartic and quintic polynomial splines in Cartesian space and septuple polynomial splines in joint space. Experimental results show that smaller tracking error can be obtained. The developed method can be applied to any robots with analytical inverse kinematic and dynamic solutions.KeywordsDynamic modeljoint frictionparallel robottime optimizationtrajectory planning