Tuanjie Li1,*, Yan Zhang1, Jiaxing Zhou1
CMES-Computer Modeling in Engineering & Sciences, Vol.118, No.3, pp. 583-598, 2019, DOI: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… More >
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