Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

doi:10.3390/s23063074

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	Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints
	T. Liu; J. Cui; Y. Li; S. Gao; M. Zhu and L. Chen
	2023
发表期刊	Sensors
ISSN	14248220
卷号	23 期号:6
摘要	This paper proposes a novel trajectory planning algorithm to design an end-effector motion profile along a specified path. An optimization model based on the whale optimization algorithm (WOA) is established for time-optimal asymmetrical S-curve velocity scheduling. Trajectories designed by end-effector limits may violate kinematic constraints due to the non-linear relationship between the operation and joint space of redundant manipulators. A constraints conversion approach is proposed to update end-effector limits. The path can be divided into segments at the minimum of the updated limitations. On each path segment, the jerk-limited S-shaped velocity profile is generated within the updated limitations. The proposed method aims to generate end-effector trajectory by kinematic constraints which are imposed on joints, resulting in efficient robot motion performance. The WOA-based asymmetrical S-curve velocity scheduling algorithm can be automatically adjusted for different path lengths and start/end velocities, allowing flexibility in finding the time-optimal solution under complex constraints. Simulations and experiments on a redundant manipulator prove the effect and superiority of the proposed method. © 2023 by the authors.
DOI	10.3390/s23063074
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收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67719
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	T. Liu,J. Cui,Y. Li,et al. Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints[J]. Sensors,2023,23(6).
APA	T. Liu,J. Cui,Y. Li,S. Gao,&M. Zhu and L. Chen.(2023).Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints.Sensors,23(6).
MLA	T. Liu,et al."Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints".Sensors 23.6(2023).

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