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]
日期:2023-01-26
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.
科研通智能强力驱动
Strongly Powered by AbleSci AI