Paper Info
Title
Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves.
Abstract
In this paper, a time-optimal trajectory planning method based on quintic Pythagorean-Hodograph (PH) curves is proposed to realize the smooth and stable high-speed operation of the Delta parallel robot. The trajectory is determined by applying the quintic PH curves to the transition segments in the pick-and-place operation trajectory and the 3-4-5 polynomial motion law to the trajectory. The quintic PH curves are optimized to reduce the cycle time of the pick-and-place operation. In addition, a comparison between different trajectory planning methods has been implemented so as to observe the performance of the obtained results. The MATLAB simulation results reveal that compared with the trajectory planning based on vertical and horizontal motion superposition, the trajectory planning based on quintic PH curves is completed with a shorter motion cycle time and more stable motion performance, with the velocities, accelerations, and jerks in joint space bounded and continuous. Experiments carried out on the prototype also confirm that the trajectory planning based on quintic PH curves has a shorter cycle time, which is of great importance to high-speed operations of Delta parallel robots.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2831663
IEEE ACCESS
Keywords
Field
DocType
Delta parallel robot,pick-and-place operation,trajectory planning,quintic Pythagorean-Hodograph curves,optimization
Parallel manipulator,Quintic function,Superposition principle,Delta robot,Polynomial,Control theory,Computer science,Robot kinematics,Acceleration,Trajectory,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Tingting Su100.34
Long Cheng2149273.97
Yunkuan Wang372.05
Xu Liang42710.67
Jun Zheng521.05
Haojian Zhang600.34