Elliptical point to point trajectory planning using electronic cam motion profiles for high speed industrial pick and place robots

摘要

As the speed of industrial pick and place robots continues to increase, new trajectory planning strategies will need to be developed in order to optimise the dynamic characteristics of high speed motion. The use of elliptical pick and place cycles coupled with a Modified Sine cam motion profile is proposed and compared to the traditional rectangular cycle with trapezoidal velocity profile. The elliptical cycle exhibits very smooth, continuous motion curves. Asymmetric acceleration can optionally be specified to reduce peak joint torques and increase maximum pick and place speed.