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Optimal trajectory planning for parallel robots considering time-jerk

Version 2 2024-06-06, 11:38
Version 1 2020-04-06, 12:05
conference contribution
posted on 2024-06-06, 11:38 authored by S Rashidnejhad, AH Asfia, KG Osgouie, A Meghdari, A Azizi
A method for optimization in trajectory planning of 3RUU robot manipulators is presented in this paper. At first, to get the optimal trajectory, position analyses has been done on the 3RUU robot, then an objective function which have two terms is minimized: first term relevant to the total execution time and another one relevant to the integral of the squared jerk (defined as the derivative of the acceleration toward time) along the trajectory and this Guarantees that the obtained trajectory is smooth. This technique let to calculate the kinematic constraints on the motion of the robot, defined as upper limits on the absolute values of velocity, acceleration and jerk., the total execution time does not require to be set priori. The algorithm has been tested in simulation and in comparison with other important trajectory planning techniques it has been given good results.

History

Volume

Applied Mechanics and Materials Vol. 390

Pagination

471-477

Location

Moscow, Russia

Start date

2013-07-20

End date

2013-07-21

ISSN

1660-9336

eISSN

1662-7482

ISBN-13

9783037858332

Language

eng

Publication classification

EN.1 Other conference paper

Copyright notice

2013, Trans Tech Publications, Switzerland

Editor/Contributor(s)

Hoxha D

Title of proceedings

ICMAE 2013 : Proceedings of the 4th International Conference on Mechanical and Aerospace Engineering

Event

Mechanical and Aerospace Engineering. International Conference (4th. 2013. Moscow, Russia)

Publisher

Scientific.Net

Place of publication

Pfaffikon, Switzerland

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