Jerk-Bounded Trajectory Planning of Industrial Manipulators

摘要

This paper presented an advance online scheme for industrial robotic manipulators, with an objective of jerk-bounded trajectory planning. Minimal time/jerk trajectory is obtained through a proposed objective, combining time execution which affects the efficiency and squared jerk which reflects the smoothness during the motion. The algorithm gives the reciprocation between the need for an adequately smooth trajectory and quick execution time, to limit the vibration during high-speed movements is the conventional condition. The need for a plane trajectory and the need for a speedy execution can be tuned by changing the values of two constants that weigh the two terms. Along the whole trajectory of fifth-order, by using B-splines interpolation. Narrate strategy is applied by using a 6-DOF manipulator UR5 and for this strategy no need to recondition the equipment. Also, for any industrial manipulator, it is easily implemented. The conclusion of the suggested contrivance has been tested in simulation and real-time industrial manipulator, also compared with several other trajectory planning methods provides good results.