Abstract
Multi-degrees of freedom robot manipulators are widely used in the manufacturing areas. Trajectory planning of the end effector is the most important while the hardest task for the use of the manipulators. An adaptive velocity planning method for multi-degrees of freedom robots with a predefined path is proposed in this article, which is based on interpolation technology. A resolved motion acceleration control strategy based on a fixed-distance movement is proposed, along with an adaptive time interpolation correction algorithm to achieve the speed planning for multi-degrees of freedom manipulators. Besides the accuracy and efficiency, more attentions were paid on the velocity control at turning points along the path, so that a transient vibration and a transient overshoot can be avoided, leading to a stable movement of the robot. A fold line trajectory and a circular-line connected trajectory were implemented on a 6-degrees of freedom robot manipulator. Simulations and experimental results show that the proposed method is efficient and effective.
Highlights
Multi-degrees of freedom (DOFs) robot manipulators are widely used in the manufacturing areas for their high flexibility of movement
The flexibility comes from the multiDOF of the manipulator, which brings many problems such as the solution of the inverse kinematic, the transient vibration and transient overshoot caused by the high-speed motion along complex traces, the movement accuracy and repeatability precision and so on
In order to improve the motion performances of multi-DOF robots, a lot of studies have been made in the literature in the field of robot kinematics, differential motions and velocities planning, dynamics and forces analysis, trajectory planning, motion control systems design, actuators and drive systems design and so on
Summary
Multi-degrees of freedom (DOFs) robot manipulators are widely used in the manufacturing areas for their high flexibility of movement. We proposed a fixed-distance trajectory planning algorithm for 6-DOF robots based on Cartesian coordinates.[13] The key components to the interpolation operation are the interpolation step size and the interpolation time, which affect the precision and the speed of motion control. An adaptive velocity planning based on RMAC is proposed to achieve a high speed, accurate and stable trajectory planning for multi-DOF robots. The proposed adaptive trajectory planning method is given in detail in ‘The adaptive RMAC control strategy’ section, especially for the velocity adjustment strategy. Both simulations and experimental results are shown in ‘Experimental verification’ section. In equation (1), Cy and Sy are used as the abbreviations to represent cosy and siny, respectively, as in the literature, and similar meanings are with the
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