A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators
ISSN: 0144-5154
Article publication date: 1 September 2022
Issue publication date: 17 October 2022
Abstract
Purpose
The purpose of this paper is to propose a smooth double-spline interpolation method for six-degree-of-freedom rotational robot manipulators, achieving the global C2 continuity of the robot trajectory.
Design/methodology/approach
This paper presents a smooth double-spline interpolation method, achieving the global C2 continuity of the robot trajectory. The tool center positions and quaternion orientations are first fitted by a cubic B-spline curve and a quartic-polynomial-based quaternion spline curve, respectively. Then, a parameter synchronization model is proposed to realize the synchronous and smooth movement of the robot along the double spline curves. Finally, an extra u-s function is used to record the relationship between the B-spline parameter and its arc length parameter, which may reduce the feed rate fluctuation in interpolation. The seven segments jerk-limited feed rate profile is used to generate motion commands for algorithm validation.
Findings
The simulation and experimental results demonstrate that the proposed method is effective and can generate the global C2-continuity robot trajectory.
Originality/value
The main contributions of this paper are as follows: guarantee the C2 continuity of the position path and quaternion orientation path simultaneously; provide a parameter synchronization model to realize the synchronous and smooth movement of the robot along the double spline curves; and add an extra u-s function to realize arc length parameterization of the B-spline path, which may reduce the feed rate fluctuation in interpolation.
Keywords
Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 51875114) and Self-Planned Task (No. SKLRS202204B) of State Key Laboratory of Robotics and System (HIT).
Authors’ contributions: Conceptualization, Methodology, Formal analysis and investigation: [Kang, Min and Fenglei, Ni]; Writing – original draft preparation: [Kang, Min]; Writing – review and editing: [Kang Min, Fenglei, Ni, Guojun, Zhang and Xin, Shu]; Funding acquisition: [Fenglei, Ni];Resources: [Fenglei, Ni and Hong, Liu];Supervision: [Fenglei, Ni].
Citation
Min, K., Ni, F., Zhang, G., Shu, X. and Liu, H. (2022), "A C2 continuous trajectory planning method for 6-DOF rotational robot manipulators", Assembly Automation, Vol. 42 No. 5, pp. 616-627. https://doi.org/10.1108/AA-07-2021-0091
Publisher
:Emerald Publishing Limited
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