Adaptive velocity planning for 6-DOF Robots with fixed tracks

摘要

A fine velocity planning model can make robots move efficiently and stably. The smoothness of the velocity, the acceleration and the jerk can protect the robots arm from moving problems, such as motion vibration and transient overshoot. In order to have a fine movement for multiple degrees of freedom (DOF) robots, people generally optimize the track on the connection point of two tracks. If the tracks are fixed, an adaptive velocity model is generally needed for the optimized trajectory planning. This paper presents an adaptive algorithm to manage the arm speeds for 6-DOF industrial robots with fixed tracks according to the Cartesian coordinate system. Through the analysis of tracks and dynamic constraints of the robot arm, a fixed-distance trajectory planning strategy is utilized to obtain a higher positioning accuracy. The proposed method is simulated on MATLAB first and then verified on a 6-DOF industrial robot platform. Both the simulation and the verification results show that the proposed adaptive velocity planning strategy can make Multi-DOF Robots move stably and smoothly with a high-speed and high-precision.