Pythagorean-Hodograph curves-based trajectory planning for pick-and-place operation of Delta robot with prescribed pick and place heights

弹道 运动规划 机器人 贴片设备 运动(物理) 障碍物 计算机科学 路径(计算) 运动控制 控制理论(社会学) 模拟 人工智能 工程类 控制(管理) 物理 天文 政治学 法学 程序设计语言
作者
Tingting Su,Xu Liang,Xiang Zeng,Shengda Liu
出处
期刊:Robotica [Cambridge University Press]
卷期号:41 (6): 1651-1672 被引量:2
标识
DOI:10.1017/s0263574722001898
摘要

Abstract In this paper, a Pythagorean-Hodograph (PH) curve-based pick-and-place operation trajectory planning method for Delta parallel robots is proposed, which realizes the flexible control of pick-and-place operations to meet the requirements of various practical scenarios. First, according to the geometric relationship of pick-and-place operation path, different pick-and-place operations are classified. Then trajectory planning is carried out for different situations, respectively, and in each case, the different polynomial motion laws adopted by the linear motion segment and the curved motion segment are solved. Trajectory optimization is performed with the motion period as optimization objective. The proposed method is easier to implement, and at the same time satisfies the safety, optimization, mobility, and stability of the robot; that is, the proposed method realizes obstacle avoidance, optimal time, flexible control of the robot trajectory, and stable motion. Simulations and experiments verify the effectiveness of the method proposed in this paper. The proposed method can not only realize the fast, accurate, and safe operation in intelligent manufacturing fields such as rapid classification, palletizing, grasping, warehousing, etc., but its research route can also provide a reference for trajectory planning of intelligent vehicles in logistics system.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
大幅提高文件上传限制,最高150M (2024-4-1)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
vincez发布了新的文献求助10
1秒前
迷路无声发布了新的文献求助10
1秒前
3秒前
li发布了新的文献求助10
3秒前
3秒前
4秒前
dch完成签到,获得积分10
4秒前
Hello应助书羽采纳,获得10
4秒前
6秒前
6秒前
7秒前
7秒前
7秒前
人物让人发布了新的文献求助10
8秒前
8秒前
上官若男应助诚心一一采纳,获得10
9秒前
深情芷完成签到,获得积分10
9秒前
9秒前
共享精神应助赤侯采纳,获得10
9秒前
小叮当完成签到,获得积分10
10秒前
10秒前
11秒前
dch发布了新的文献求助10
12秒前
呆萌剑封发布了新的文献求助10
14秒前
16秒前
HY发布了新的文献求助10
16秒前
书羽发布了新的文献求助10
16秒前
平平小可爱完成签到,获得积分10
18秒前
Akim应助健壮冬卉采纳,获得10
18秒前
18秒前
19秒前
阿巴阿巴发布了新的文献求助10
19秒前
19秒前
哭泣仙人掌完成签到,获得积分10
20秒前
迅速凡旋发布了新的文献求助10
21秒前
刘柳完成签到 ,获得积分10
21秒前
爆米花应助秀丽的砖家采纳,获得10
21秒前
bkagyin应助人物让人采纳,获得10
22秒前
22秒前
vincez完成签到,获得积分20
22秒前
高分求助中
Licensing Deals in Pharmaceuticals 2019-2024 3000
Cognitive Paradigms in Knowledge Organisation 2000
Effect of reactor temperature on FCC yield 2000
How Maoism Was Made: Reconstructing China, 1949-1965 800
Introduction to Spectroscopic Ellipsometry of Thin Film Materials Instrumentation, Data Analysis, and Applications 600
Promoting women's entrepreneurship in developing countries: the case of the world's largest women-owned community-based enterprise 500
Shining Light on the Dark Side of Personality 400
热门求助领域 (近24小时)
化学 医学 生物 材料科学 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 基因 遗传学 催化作用 物理化学 免疫学 量子力学 细胞生物学
热门帖子
关注 科研通微信公众号,转发送积分 3310425
求助须知:如何正确求助?哪些是违规求助? 2943334
关于积分的说明 8513915
捐赠科研通 2618566
什么是DOI,文献DOI怎么找? 1431182
科研通“疑难数据库(出版商)”最低求助积分说明 664398
邀请新用户注册赠送积分活动 649599