Design of jerk bounded trajectories for on-line industrial robot applications

S. Macfarlane, E. A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

27 Citations (Scopus)

Abstract

An on-line method for obtaining smooth, jerk-bounded trajectories has been developed and implemented. Jerk limitation is important in industrial robot applications, since it results in improved path tracking and reduced wear on the robot. The method described herein uses a concatenation of fifth-order polynomials to provide a smooth trajectory between two points. The trajectory is determined based on approximating a linear segment with parabolic blends (LSPB) trajectory. A sine wave approximation is used to ramp from zero acceleration to non-zero acceleration. This results in a controlled quintic trajectory which does not oscillate, and is near time-optimal given the jerk and acceleration limits specified. The method requires only the computation of the quintic control points, up to a maximum of seven points per trajectory way-point. This provides hard bounds for on-line motion algorithm computation time. Simulations and experimental results on an industrial robot are presented.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages979-984
Number of pages6
Volume1
DOIs
Publication statusPublished - 15 Sep 2001
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2001 - Seoul, Korea, Republic of (South)
Duration: 21 May 200126 May 2001
https://ieeexplore.ieee.org/xpl/conhome/7423/proceeding?isnumber=20179 (Proceedings)

Conference

ConferenceIEEE International Conference on Robotics and Automation 2001
Abbreviated titleICRA 2001
CountryKorea, Republic of (South)
CitySeoul
Period21/05/0126/05/01
Internet address

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