Automatic elliptical trajectory planning algorithm for pick and place operation

Abstract

As the speed of industrial pick and place robots continues to increase, new trajectory planning algorithm will need to be developed in order to optimize the kinematic characteristics of high speed application. One elliptical trajectory is introduced in this paper, in order to optimize the performance of the pick and place operation. When facing any two points among the workspace of the robot, one elliptical trajectory with specific safe height is automatically generated. Besides, one modified sine wave motion profile is introduced into this trajectory. After mapping this Cartesian position into the joint space, one cubic interpolation algorithm is adopted. Lastly, the cycle performance exhibits the continuous of motion curves by the simulation results, the maximum speed of the palletizing task is also increased by the proposed algorithm. In addition, the results of the simulation show the effectiveness and the applicable of the method for the industrial applications.