|P. Boscariol, A. Gasparetto, R. Vidoni|
|Jerk-Continous Trajectories For Cyclic Tasks|
|Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA|
Abstract: Planning smooth trajectories is a crucial task for most advanced
robotic applications. Poorly planned trajectories can be
inefficient under many aspects, since they might require long execution
time and induce unnecessary vibration on the end-effector
of the robot as well as high solicitation on its mechanical structure
and actuators. In this paper a novel trajectory planning
methods for robotic manipulators is introduced, named ”5455”.
This method is based on an interpolation of a sequence of via
points using a combination of 4th and 5th order polynomial functions.
This technique allows to obtain a continuous-jerk trajectory
for improved smoothness and minimum excitation of vibration.
Such method allows also to impose an arbitrary value of
jerk at the first and last via-point. This feature can be effectively
used to produce a smooth trajectory for repetitive tasks, trough
an innovative optimization algorithm which is introduced in this
paper. Both numerical and experimental results are provided for
a 3 d.o.f. Cartesian robot, but the techniques provided here can
be applied to any industrial manipulator.
|Activity: RobTraj: study of robot trajectories||