A fixed-distance planning algorithm for 6-DOF manipulators. Issue 6 (19th October 2015)

• Record Type: Journal Article
• Authors: Gao, Mingyu; Chen, Da; Yang, Yuxiang; He, Zhiwei
• Is Part Of: Industrial robot. Volume 42:Issue 6(2015)
• Page Start: 586
• Page End: 599
• Publication Date: 2015-10-19
• Subjects: Path planning -- Industrial robot -- Cartesian system -- Fixed-distance -- Manipulator; Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-04-2015-0077
• Languages: English
• ISSNs: 0143-991X

Abstract

Abstract : Purpose: – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach: – The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform. Findings: – A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot. Originality/value: – A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.