SYNCHRONIZED TRIGONOMETRIC S-CURVE TRAJECTORY FOR JERK-BOUNDED TIME-OPTIMAL PICK AND PLACE OPERATION

摘要

Abstract Industrial robots are predominately used in point-to-point applica-tions such as machine loading and unloading and spot welding. Asmooth and time-optimal trajectory of robot is essential for precisehandling applications. Lot of jerk-limited motion profiles are pro-posed in the literature and are classified under two approaches. Inthe first approach, the motion profiles are generated using prede-fined intermediate points called knot or control points which arespecifiedbytheuserforitsinterpolation. S-curvemotionisanotherapproach for jerk-limited motion. This paper presents an approachto generate a new synchronized jerk-bounded trigonometric S-curvetrajectory for 6 DOF robotic manipulator that has the followingfeatures: acceleration and deceleration phases follow a sine waveform of jerk profile; each phase (acceleration, constant velocity anddeceleration) of motion of all the “n joints start and end at thesame time instant (synchronized motion of the “n joints). The re-sultsofnumericalillustrationsshowthatproposedtrajectoryabletogenerate synchronized, smooth trajectory with minimum executiontime and much lesser jerk values when compared with spline-basedtrajectorieswhicharefound in literatures.