Adaptive Motion Planning for 6-DOF Robots Based on Trigonometric Functions

International Journal of Information Technology

Jincan Li ; Mingyu Gao ; Zhiwei He ; Yuxiang Yang ; Zhongfei Yu ; Yuanyuan Liu

关键词: 6-DOF robots;    motion planning;    trigonometric function;    kinematic constraints;   

DOI  :  10.1999/1307-6892/10009257

学科分类：计算机应用

来源: World Academy of Science, Engineering and Technology (W A S E T)

【 摘 要 】

Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories.

【 授权许可】

Unknown