International Journal of Control, Automation and Systems 2016; 14(4): 1021-1035
https://doi.org/10.1007/s12555-014-0495-4
© The International Journal of Control, Automation, and Systems
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.
Keywords Dynamic model, joint friction, parallel robot, time optimization, trajectory planning.
International Journal of Control, Automation and Systems 2016; 14(4): 1021-1035
Published online August 1, 2016 https://doi.org/10.1007/s12555-014-0495-4
Copyright © The International Journal of Control, Automation, and Systems.
Liang Liu, Chaoying Chen, Xinhua Zhao*, and Yangmin Li*
University of Macau
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.
Keywords: Dynamic model, joint friction, parallel robot, time optimization, trajectory planning.
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