The NURBS book (2nd ed.)
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
A technique for time-jerk optimal planning of robot trajectories
Robotics and Computer-Integrated Manufacturing
-Splines for the Smooth Path Generation of Wheeled Mobile Robots
IEEE Transactions on Robotics
Task-oriented motion planning for multi-arm robotic systems
Robotics and Computer-Integrated Manufacturing
Hi-index | 0.00 |
In the industrial environment, several constraints affect the robot motion planning. These are imposed by manufacturing considerations, such as, e.g., to strictly follow a given path, or by physical constraints, such as, e.g., to avoid torque saturation. Among the others, limitation on the velocity, acceleration, and jerk at the joints is often required by the robot manufacturers. In this paper, a motion planning algorithm for open-chain robot manipulators that takes into account several constraints simultaneously is presented. The algorithm developed approaches the motion planning algorithm from a wide perspective, solving systematically the joint as well as the Cartesian motion, both for the point-to-point and the fly movements. The validation has been performed first by numerical simulations and then by experiments on two different industrial manipulators, with different size, with and without the presence of a payload, by imposing demanding trajectories where all the constraints have been excited.