Time-optimal and Smooth Trajectory Planning for Robot Manipulators

• Published in: International journal of control, automation, and systems Vol. 19; no. 1; pp. 521 - 531
• Main Authors: Zhang, Tie, Zhang, Meihui, Zou, Yanbiao
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2021; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Constraint modelling; Control; Engineering; Industrial robots; Input shaping; Manipulators; Mechatronics; Planning; Process parameters; Robot arms; Robot dynamics; Robotics; Robots; Signal delay; Trajectory optimization; Trajectory planning; 제어계측공학; input shaping; Industrial robot; time-optimal; vibration control; trajectory planning
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0703-3

This paper presents a practical time-optimal and smooth trajectory planning algorithm and then applies it to robot manipulators. The proposed algorithm uses the time-optimal theory based on the dynamics model to plan the robot’s motion trajectory, constructs the trajectory optimization model under the constraints of the geometric path and joint torque, and dynamically selects the optimal trajectory parameters during the solving process to prominently improve the robot’s motion speed. Moreover, the proposed algorithm utilizes the input shaping algorithm instead of the jerk constraint in the trajectory optimization model to achieve a smooth trajectory. The input shaping of trajectory parameters during postprocessing not only suppresses the residual vibration of the robot but also takes the signal delay caused by traditional input shaping into account. The combination of these algorithms makes the proposed time-optimal and smooth trajectory planning algorithm ensure absolute time optimality and achieve a smooth trajectory. The results of an experiment on a six-degree-of-freedom industrial robot indicate the validity of the proposed algorithm.