Trajectory planning for manufacturing robots: Algorithm definition and experimental results

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010

Volumn 3, Issue , 2010, Pages 609-618

  Gasparetto, Alessandro ^a   Lanzutti, Albano ^a   Vidoni, Renato ^a   Zanotto, Vanni ^a  

^a UNIVERSITY OF UDINE   (Italy)

Author keywords

B splines; Cubic splines; Experimental validation; Time jerk optimization; Trajectory planning

Indexed keywords

B SPLINES; CUBIC SPLINES; EXPERIMENTAL VALIDATIONS; TIME-JERK OPTIMIZATION; TRAJECTORY PLANNING;

ACCELEROMETERS; ALGORITHMS; MACHINE DESIGN; MANUFACTURE; OPTIMAL SYSTEMS; ROBOT APPLICATIONS; ROBOTS; SPLINES; SYSTEMS ANALYSIS; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 79956112407     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/ESDA2010-24260     Document Type: Conference Paper

References (16)

1. Brogardh, T., 2007, "Present and future robot control development - An industrial perspective", Annual Reviews in Control, 31 (1), pp. 69-79. (Pubitemid 46809566)
2. Barre, P.J., Bearee, R., Borne, P., and Dumetz, E., 2005, "Influence of a jerk controlled movement law on the vibratory behaviour of high-dynamics systems", Journal of Intelligent and Robotic Systems, 42 (3), pp. 275-293. (Pubitemid 41117841)
3. Bearee, R., Barre, P.J., and Bloch, S., 2004, "Influence of high-speed machine tool control parameters on the contouring accuracy. Application to linear and circular interpolation", Journal of Intelligent and Robotic Systems, 40 (3), pp. 321-342.
4. Brock, S., and Kaczmarek, T., 1996, "2D command preprocessor with jerk limit for machine tools drives", IEEE International Symposium on Industrial Electronics, 1, pp. 230-235.
5. Macfarlane, S., and Croft, E.A., 2001, "Design of jerk bounded trajectories for online industrial robot applications", IEEE International Conference on Robotics and Automation, Seoul, Sud Korea, 1, pp. 979-984. (Pubitemid 32815328)
6. Macfarlane, S., 2001, "On-line smooth trajectory planning for manipulators", Ph.D. thesis, The University of British Columbia.
7. Constantinescu, D., and Croft, E.A., 2000, "Smooth and time-optimal trajectory planning for industrial manipulators along specified paths", Journal of Robotic Systems, 17 (5), pp. 233-249. (Pubitemid 30592696)
8. Costantinescu, D., 1998, "Smooth time optimal trajectory planning for industrial manipulators", Ph.D. thesis, The University of British Columbia.
9. Simon, D., and Isik, C., 1993, "A trigonometric trajectory generator for robotic arms", International Journal of Control, 57 (3), pp. 505-517.
10. Piazzi, A., and Visioli, A., 1997, "An interval algorithm for minimum-jerk trajectory planning of robot manipulators", Proc. 36th Conference on Decision and Control, San Diego, California, 2, pp. 1924-1927.
11. Piazzi, A., and Visioli, A., 2000, "Global minimum-jerk trajectory planning of robot manipulators", IEEE Transactions on Industrial Electronics, 47 (1), pp. 140-149. (Pubitemid 32132940)
12. Dumetz, E., Dieulot, J.Y., Barre, P.J., Colas, F., and Delplace, T., 2006, "Control of an Industrial Robot using Acceleration Feedback", Journal of Intelligent and Robotic Systems, 46 (2), pp. 111-128. (Pubitemid 44325392)
13. Cano, T., Chapelle, F., Lavest, J.M., and Ray, P., 2008, "A new approach to identifying the elastic behavior of a manufacturing machine", International Journal of Machine Tools & Manufacture, 48, pp. 1569-1577.
14. Gasparetto, A., and Zanotto, V., 2007, "A new method for smooth trajectory planning of robot manipulators", Mechanism and Machine Theory, 42 (4), pp. 455-471. (Pubitemid 46149020)
15. Gasparetto, A., and Zanotto, V., 2008, "A technique for time-jerk optimal planning of robot trajectories", Robotics and Computer-Integrated Manufacturing, 24 (3), pp. 415-426. (Pubitemid 351312259)
16. st ed., Vol. 27 of Applied Mathematical Sciences, Springer-Verlag, New York.