弹道
加速度
职位(财务)
机器人
约束(计算机辅助设计)
算法
计算机科学
接头(建筑物)
控制理论(社会学)
工程类
控制工程
作者
Yanyang Liang,Chaozhi Yao,Wenxiang Wu,Lihui Wang,Qiongyao Wang
标识
DOI:10.1007/s00170-021-08503-3
摘要
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.
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