Jerk and Energy Issues in Optimal Trajectory Planning for Robot Manipulators

Abstract

Objective: One of the important objectives in industrial applications is minimizing the consumed energy due to the unsecured supply lines because of the international crisis and the sudden increase in the prices of the crude oil as well. It is the objective of this research to investigate the effect of jerk and the minimum energy consumption per cycle of the manipulator’s actuators on the optimal trajectory of industrial manipulator. Methods: The design for optimal trajectory for industrial robots has a primary importance in attaining mass production with accurate performance. Optimal trajectory can be designed from start to goal positions to achieve certain criterion optimally such as minimum time, minimum distance and / or minimum energy consumption while avoiding obstacles during the course of motion. Results: The proposed analysis will consider also the jerk which is the time derivative of the acceleration to guarantee that the end-effector will not vibrate at the start and goal of each stroke. A polynomial of seven-degree is proposed to investigate how the jerk affects the optimality of the trajectory and the torques of the joints as well. Conclusion: From the presented parametric study and analysis, it is recommended to apply energy per cycle as a criterion for minimum kinetic energy of an industrial manipulator trajectory in spatial manoeuvring.