[1]LI Zhenna,WANG Tao,WANG Binrui,et al.Trajectory planning for manipulator in Cartesian space based on constrained S-curve velocity[J].CAAI Transactions on Intelligent Systems,2019,14(4):655-661.[doi:10.11992/tis.201806025]
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Trajectory planning for manipulator in Cartesian space based on constrained S-curve velocity

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 14 Number of periods: 2019 4 Page number: 655-661 Column: 学术论文—智能系统 Public date: 2019-07-02
Title:
Trajectory planning for manipulator in Cartesian space based on constrained S-curve velocity
Author(s):
LI Zhenna;  WANG Tao;  WANG Binrui;  GUO Zhenwu;  CHEN Dijian
College of Mechanical and Electrical Engineering, China Jiling University, Hangzhou 310018, China
Keywords:
manipulator; Cartesian space; S-curve velocity; path length constraint; trajectory planning; interpolation algorithm; quaternion; arc length increment
CLC:
TP242
DOI:
10.11992/tis.201806025
Abstract:
To solve the problem of trajectory planning for manipulator in Cartesian coordinate, a space line and arc interpolation algorithm is designed based on the S-type velocity curve. By increasing the path length constraint, the S-type speed planning is divided into four types:seven-segment, six-segment, five-segment, and four-segment. A pose model of quaternion-based linear and circular movements is established, and the arc length increment interpolation technology is used to achieve trajectory planning. Experimental verification was performed on a real-time control platform of a six-degrees-of-freedom manipulator. The results show that the algorithm can automatically adjust the speed and acceleration under the path length constraint and ensure continuous acceleration at the end of the manipulator, and therefore reduces the impact effectively.
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