doi:10.16186/j.cnki.1673-9787.2020.2.13

Received:2019/04/28

Revised:2019/06/06

Published:2020/03/15

An industrial robot trajectory planning algorithm based on kinematics constraints

SUN Weiwei, WANG Han, HUANG Min

School of Mechanic and Electric Engineering， Beijing Information Science & Technology University， Beijing 100192 ， China

Abstract:In order to realize the smooth and real-time motion generation for multi-DoF （ degree of freedom ） industrial robots，a trajectory generation algorithm based on kinematic motion constraints was presented. The velocity ，acceleration and jerk （the derivative of acceleration to time ） were taken as the kinematic constraints of industrial robot manipulators to generate point-to-point multi-DoF trajectories in real-time. The cubic polynomials were used to represent the robot trajectories to guarantee the motion smoothness. The proposed trajectory generation algorithm was applied to the AuBo-i5 industrial manipulator for verification. Due to direct computation of polynomials without any optimization， the proposed algorithm was fast and could produce trajectories within a control circle， which enabled easy integration in the feedback loop of visual servo or force control. A simple but effective synchronization strategy was also presented to reduce the robot tracking error.

Key words:industrial robot;kinematics constraint;trajectory planning;flexibility

一种基于运动学约束的工业机器人轨迹规划算法_孙巍伟.pdf