چکیده مقاله
This paper presents an acceleration jerk limited trajectory planning scheme for serial manipulators First, the trajectory of a robot is designed in the Cartesian space using the non uniform rational basis spline NURBS curve then, the position commands of the end effector are obtained by the NURBS interpolator containing the acc jerk limited feedrate profile along the trajectory The feedrate profile for the end effector motion is optimized using an optimization method in which the constraints of velocity, acceleration and jerk of all joints are taken into account to minimize the total machining time To evaluate the accuracy of the analytical method for the kinematic and dynamic analyses, the results for the KUKA KR16 as a serial manipulator are compared with the outcomes from the SimMechanics The results confirmed that the proposed optimized acc jerk limited trajectory planning is capable of providing smooth motions for all joints of the robot with the specified confined kinematic constraints
کلیدواژهها
نویسندگان
Javad Jahanpour
Department of Mechanical Engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran
Mohammad Naser Ranjbar
Department of Mechanical Engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran
Nazanin Jahanpour
Department of Medical Laboratory Sciences, Faculty of Allied Medicine, Mashhad University of Medical Sciences,Mashhad, Iran
Nooshafarin Jahanpour
Department of Medical Laboratory Sciences, Faculty of Allied Medicine, Mashhad University of Medical Sciences,Mashhad, Iran
شیوه ارجاع
Jahanpour, Javad and Ranjbar, Mohammad Naser and Jahanpour, Nazanin and Jahanpour, Nooshafarin,1401,Time Optimal NURBS-Based Acc-Jerk Limited Trajectory Planning for Serial Manipulators,The 19th National Conference and the 8th International Conference on Construction and Production Engineering of Iran,Mashhad
ارائهشده در
مجموعه مقالات نوزدهمین همایش ملی و هشتمین کنفرانس بین المللی مهندسی ساخت و تولید ایران18 اسفند 1401 · مشهد