Time-Optimal Trajectory Planning Based on the Pruning/Shooting Algorithm for Industrial Robot along Specified Paths
NAN Wenhu1, ZHENG Haixia1, YE Bosheng2
1. School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China;
2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
南文虎, 郑海霞, 叶伯生. 基于修型/射靶算法的工业机器人固定路径时间最优轨迹规划[J]. 机器人, 2016, 38(2): 233-240.DOI: 10.13973/j.cnki.robot.2016.0233.
NAN Wenhu, ZHENG Haixia, YE Bosheng. Time-Optimal Trajectory Planning Based on the Pruning/Shooting Algorithm for Industrial Robot along Specified Paths. ROBOT, 2016, 38(2): 233-240. DOI: 10.13973/j.cnki.robot.2016.0233.
For the existing methods, it will cost a lot of time and computation to solve time-optimal trajectory planning problem of industrial robots along fixed path. To solve this problem, the maximum phase speed profile is obtained firstly by using velocity constraint inequality in joint space. Then, the necessary maximum constraint speed curve is obtained by using joint acceleration/torque constraint inequality. By intersection operation for the above two maximum speed curves, the maximum speed curve under multiple constraints is obtained. Finally, the time optimal trajectory is obtained by correcting the maximum speed curve under multiple constraints with the pruning/shooting algorithm. The efficiency and real-time performance of the proposed algorithm is demonstrated by experiment.
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