LSPB Trajectory Planning Using Quadratic Splines

摘要

In this paper a new method of generating trajectories for the manipulator of industrial robots is proposed. The focus of the algorithm lies on simple integration into existing systems and compatibility with the robot interfaces of the manufacturers. The trajectory of the robot manipulator is described by a quadratic spline in joint space, which is used to compute the pseudo-way-points and blend radii of linear segments with parabolic blends trajectory (LSPB-trajectory). Several trajectory algorithms have been developed so far, however, to our knowledge, none of them combines the following important properties: The specified way-points are not approximated but interpolated and the computed trajectory respects the maximum joint velocities and accelerations. Additionally the geometrical tangents of the trajectory at the way-points are specified in order to obtain more control of the movement of the robot.