Automated Trajectory Planner of Industrial Robot for Pick-and-Place Task

International Journal of Advanced Robotic Systems

关键词: Trajectory Planning;    S-Curve Trajectory;    Jerk;    Collision Avoidance;    Robotic Manipulator;   

DOI  :  10.5772/53940

学科分类：自动化工程

来源: InTech

【 摘 要 】

Industrial robots, due to their great speed, precision and cost-effectiveness in repetitive tasks, now tend to be used in place of human workers in automated manufacturing systems. In particular, they perform the pick-and-place operation, a non-value-added activity which at the same time cannot be eliminated. Hence, minimum time is an important consideration for economic reasons in the trajectory planning system of the manipulator. The trajectory should also be smooth to handle parts precisely in applications such as semiconductor manufacturing, processing and handling of chemicals and medicines, and fluid and aerosol deposition. In this paper, an automated trajectory planner is proposed to determine a smooth, minimum-time and collision-free trajectory for the pick-and-place operations of a 6-DOF robotic manipulator in the presence of an obstacle. Subsequently, it also proposes an algorithm for the jerk-bounded Synchronized Trigonometric S-curve Trajectory (STST) and the ‘forbidden-sphere’ technique to av...

【 授权许可】

CC BY