Smooth Interpolation Design with Consideration of Corner Tolerance Constraints for Robotics

摘要

This paper presents a novel method for interpolation design that ensures the continuity of a velocity profile and satisfies a specified corner tolerance constraint. The method uses an S-shaped profile to generate trajectories for each line segment in the task space. The velocity profiles of each segment are overlapped to control the smoothness of the corners and reduce the cycle time. This study defined an overlapping time parameter that is associated with the corner tolerance and the cycle time. Moreover, a corner tolerance constraint equation was derived that can allow for a given tolerance to be satisfied. This constraint equation enables the use of the proposed velocity profile overlap (VPO) method to specify corner tolerances for each corner of the trajectory. The proposed method was compared against the conventional acceleration/deceleration after interpolation (ADAI) method. The results demonstrate that the proposed VPO method can achieve higher accuracy and lower cycle time than the ADAI method.