Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm

摘要

To meet the requirements on industrial robots concerning their fast-moving pick-and-place or obstacle avoidance, this article puts forward a novel high-speed and smooth transfer control algorithm for spatial elliptic trajectory - an modified S-shaped acceleration/deceleration (ACC/DEC) control algorithm based on a piecewise continuous jerk curve in order to achieve the smooth motion at a high speed. Through mathematical modeling and interpolation point algorithm of spatial elliptic trajectory, the interpolation point information can be obtained. Then, using the speed look-ahead algorithm, the optimal speed at the switching point can be calculated during the trajectory transfer. According to the analysis on the experiment and simulation results of a sorting case, the velocity curve turned out to be smoother and the run time decreased by 33.69%. In this way, this transfer algorithm can guarantee the smooth motion of industrial robots and also improve the motion efficiency significantly.