English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

To meet the requirements on industrial robots concerning their fast-moving pick-and-place or obstacle avoidance, this article puts forward a novel high-speed and smooth transfer control algorithm for spatial elliptic trajectory - an modified S-shaped acceleration/deceleration (ACC/DEC) control algorithm based on a piecewise continuous jerk curve in order to achieve the smooth motion at a high speed. Through mathematical modeling and interpolation point algorithm of spatial elliptic trajectory, the interpolation point information can be obtained. Then, using the speed look-ahead algorithm, the optimal speed at the switching point can be calculated during the trajectory transfer. According to the analysis on the experiment and simulation results of a sorting case, the velocity curve turned out to be smoother and the run time decreased by 33.69%. In this way, this transfer algorithm can guarantee the smooth motion of industrial robots and also improve the motion efficiency significantly.

Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm