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Jerk-Continuous Trajectories for Cyclic Tasks

[+] Author Affiliations
Paolo Boscariol, Alessandro Gasparetto

University of Udine, Udine, Italy

Renato Vidoni

Free University of Bozen-Bolzano, Bolzano, Italy

Paper No. DETC2012-70912, pp. 1277-1286; 10 pages
doi:10.1115/DETC2012-70912
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

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.

Copyright © 2012 by ASME

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