Open AccessResearch on the Planning Method of Robot Terminal Speed Based on Task Characteristics
Author(s) -
Benchi Jiang,
Qingrong Zhan,
Jiankang Li,
Pengfei Duan,
Xin Du
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 - 10.1088/1742-6596/2029/1/012105
Subject(s) - acceleration , computer science , robot , terminal (telecommunication) , polynomial , task (project management) , degree (music) , motion planning , trajectory , process (computing) , industrial robot , simulation , stability (learning theory) , control theory (sociology) , artificial intelligence , mathematics , engineering , machine learning , telecommunications , mathematical analysis , physics , systems engineering , classical mechanics , astronomy , acoustics , operating system , control (management)
In order to study the speed planning of the industrial robots trajectory end under different tasks, the three speed planning methods of the third degree polynomial, the fifth degree polynomial and the five-segment S-curve are compared and studied. Analyze the stability and positioning accuracy of the robot’s end motion process in different occasions, and combine the speed and acceleration changes of the three speed planning methods, and recommend the end speed planning method for common tasks such as palletizing, loading and unloading, and grinding. Taking specific tasks as an example, the simulation results verify the rationality of the recommended method.