Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm

Multi-joint industrial robots are widely used in many fields such as transportation, welding, and assembling. In order to meet the requirements of efficient and synchronous robot motion, a multi-axis real-time synchronous look-ahead trajectory planning algorithm is proposed based on dynamically given position and velocity sequences under the constraint of maximum velocity and acceleration of each joint axis. In addition, an efficient transition processing method is proposed to satisfy the smooth transition between adjacent trajectory segments. Furthermore, the trajectory planning methods of real-time velocity tuning is further investigated to meet the requirements in practical application of industrial robot. At last, the performance of the proposed algorithm is verified by simulation, and the feasibility of the algorithm in practical applications is demonstrated experimentally.