TY  - EJOU
AU  - Li, Tuanjie 
AU  - Zhang, Yan 
AU  - Zhou, Jiaxing 

TI  - Trajectory Planning of High Precision Collaborative Robots
T2  - Computer Modeling in Engineering \& Sciences

PY  - 2019
VL  - 118
IS  - 3
SN  - 1526-1506

AB  - 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.
KW  - Collaborative robot
KW  -  high efficiency
KW  -  high precision
KW  -  velocity look-ahead control
KW  -  trajectory planning
KW  -  quintic B-spline

DO  - 10.31614/cmes.2018.04891