Optimal Trajectory Planning for Glass-Handing Robot Based on Execution Time Acceleration and Jerk

摘要

This study describes a trajectory planning method based on execution time, acceleration, and jerk to ensure that a glass-handing robot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of the acceleration, and the integral of the jerk, all of which are obtained through the weighted coefficient method. A three-dimensional kinematics model of the glass-handing robot is then established and nonuniform fifth-order<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:mi>B</mml:mi></mml:mrow></mml:math>-splines are used to interpolate its path points. The acceleration and jerk are expressed as functions of time through mathematical simulation. Simulation results show that the designed method for robot trajectory planning not only improves the working efficiency of the glass-handing robot but also ensures that it runs smoothly.