Path planning of manipulator based on acceleration and deceleration control of two-phase adaptive path

Abstract

In this paper, the key technology in NC system, acceleration and deceleration control, is applied to path planning of manipulator. A two-phase adaptive path acceleration and deceleration control method is proposed, which reduces the requirement of S-shaped curve acceleration and deceleration control method on the shortest path length, and improves the smoothness of trapezoidal acceleration and deceleration control. On the whole, it improves the rapidity of accurately reaching the target position and the smoothness of manipulator’s movement.