Open AccessA trajectory planning algorithm for a multi-degree-of-freedom parallel robot based on NURBS research and simulation
Author(s) -
Zhiqiang Wang,
Zhe Wang,
Panpan Xun,
Yuhui Shi,
Han Su,
Han Jiang
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 - 10.1088/1742-6596/2029/1/012017
Subject(s) - trajectory , robot , interpolation (computer graphics) , computer science , motion (physics) , algorithm , motion planning , parallel manipulator , discretization , computer vision , artificial intelligence , mathematics , mathematical analysis , physics , astronomy
Parallel robots are small in size and high in accuracy, so they are widely used in processing and production industries. In order to give full play to the characteristics of high-speed motion of parallel robots, trajectory planning has become a hot spot in the industry. This paper proposes a trajectory planning algorithm based on NURBS. Firstly, the algorithm uses the characteristics of NURBS continuous and derivable to fit interpolation points, and then we obtain a smooth and continuous robot motion trajectory. Secondly, It uses interpolation algorithm to discretize the curve to get the robot motion sequence. Finally, It completes the entire motion process of the robot in three-dimensional space. Experiments show that the algorithm can be applied to the parallel robot control system, which can give full play to the performance of the parallel robot and ensure the stable and high-speed operation of the robot.