Open AccessTrajectory planning of a 5 DOF feeding serial manipulator using 6th order polynomial method
Author(s) -
Priyam Parikh,
Reena Trivedi,
Keyur Joshi
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1921/1/012088
Subject(s) - trajectory , jerk , robot , inverse kinematics , kinematics , computer science , robot end effector , control theory (sociology) , serial manipulator , cartesian coordinate system , polynomial , parallel manipulator , simulation , mathematics , artificial intelligence , acceleration , control (management) , physics , mathematical analysis , geometry , classical mechanics , astronomy
In the present era the importance of household and assistive robots has been increasing. Usually assistive robots are serial manipulators having degree of freedom more than three. In this paper a case of vertically downward 5 DOF assistive robots is taken, which helps physically challenged people in feeding. This paper delivers the methodology to build the smooth trajectory for multi-degree of freedom robot using higher degree polynomials method. An optimal trajectory decreases jerk to the end-effector (As end-effector carries food) protects battery life, protects joints from the mechanical vibrations and reduces time to reach at the user. This paper also discusses the forward and inverse kinematic analysis of a T-R-R-R-R type robot, as it is highly recommended before trajectory planning. The paper also compares the trajectories generated by inverse kinematics (Cartesian Scheme) and Joint space scheme. In a nut shell this methodology will be helpful in designing the trajectories of assistive T-R-R-R-R type robots for physically challenged people like Parkinson patients, patients with vertigo or vestibular disorder, neurological disorder and many more.