Open AccessThe Combination Trajectory Planning of Serial Robot in Cartesian Space and Joint Space
Author(s) -
Jun Ren,
Qianghao Zhang
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/563/5/052039
Subject(s) - cartesian coordinate robot , robot , cartesian coordinate system , bang bang robot , trajectory , snake arm robot , computer science , robot calibration , position (finance) , robot control , control theory (sociology) , articulated robot , computer vision , mathematics , artificial intelligence , mobile robot , geometry , physics , control (management) , finance , astronomy , economics
In order to improve the working efficiency of serial robot, a new trajectory planning method is proposed. Taking 6-DOF robot as an example, the 6-DOF open-chain robot is transformed into a 12-DOF closed-chain robot by creating a virtual robot at the end-effecter. Then, the virtual joint variable of the virtual robot is used to represent the end position of the robot, and the direct relationship between the joint variable and the position attitude is obtained. The B-spline Curve is used to plan the trajectory in the Cartesian space, and the joint motion trajectories of the robot are controlled indirectly to meet the requirements of the joint space speed and acceleration. Finally, the time-optimal solution of the trajectory programming is solved by the Genetic Algorithm under the condition of satisfying the joint space and the Cartesian space.