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Trajectory Planning of High Precision Collaborative Robots

Tuanjie Li1,*, Yan Zhang1, Jiaxing Zhou1

School of Mechano-Electronic Engineering, Xidian University, Xi’an, 710071, China.

* Corresponding Author: Tuanjie Li. Email: email.

Computer Modeling in Engineering & Sciences 2019, 118(3), 583-598. https://doi.org/10.31614/cmes.2018.04891

Abstract

In order to satisfy the high efficiency and high precision of collaborative robots, this work presents a novel trajectory planning method. First, in Cartesian space, a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots. Then, the joint trajectories can be obtained through the inverse kinematics. In order to improve the smoothness and stability in joint space, the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline. Finally, the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot. The experimental results indicate that the collaborative robot achieves the high efficiency and high precision, which validates the effectiveness of the proposed method.

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Cite This Article

APA Style
Li, T., Zhang, Y., Zhou, J. (2019). Trajectory planning of high precision collaborative robots. Computer Modeling in Engineering & Sciences, 118(3), 583-598. https://doi.org/10.31614/cmes.2018.04891
Vancouver Style
Li T, Zhang Y, Zhou J. Trajectory planning of high precision collaborative robots. Comput Model Eng Sci. 2019;118(3):583-598 https://doi.org/10.31614/cmes.2018.04891
IEEE Style
T. Li, Y. Zhang, and J. Zhou "Trajectory Planning of High Precision Collaborative Robots," Comput. Model. Eng. Sci., vol. 118, no. 3, pp. 583-598. 2019. https://doi.org/10.31614/cmes.2018.04891



cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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