A novel multi-point trajectory generator for robotic manipulators based on piecewise motion profile and series-parallel analytical strategy. (March 2023)

• Record Type: Journal Article
• Authors: Wu, Zhijun; Chen, Jiaoliao; Zhang, Dan; Wang, Jiacai; Zhang, Libin; Xu, Fang
• Is Part Of: Mechanism and machine theory. Volume 181(2023)
• Publication Date: 2023-03
• Subjects: Manipulator -- Multi-point trajectory optimization -- Overshoot and undershoot -- Piecewise motion profile -- Series-parallel analytical strategy; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2022.105201
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: A novel TMTG is proposed to improve the accuracy and efficiency of manipulators. A multi-point trajectory is composed of various subtrajectories. The piecewise motion profile is presented for a jerk-continuous subtrajectory. A series-parallel analytical strategy is used for the time-optimal trajectories. The accuracy and efficiency by TMTG are better than by existing techniques. Abstract: A novel time-optimal multi-point trajectory generator (TMTG) based on piecewise motion profile and series-parallel analytical strategy is proposed for robotic manipulators to improve the motion accuracy and efficiency. The multi-point trajectory is composed of various subtrajectories to eliminate overshoot and undershoot according to the constrained velocity direction at the desired points. The piecewise motion profile is acted as a fundamental subtrajectory model for a jerk-continuous subtrajectory. A series-parallel analytical strategy provides a closed-form solution for the time-optimal multi-point trajectories. The series analytical strategy for a single-joint trajectory generates the time-optimal trajectory and the upper velocities of the desired points. The parallel analytical strategy for multi-joint subtrajectories synchronizes the joint movements to enhance the multi-joint motion accuracy. The simulations and experiments conducted on a manipulator validate that TMTG outperforms state-of-the-art approaches in terms of accuracy and efficiency for a multi-joint manipulator. The absolute position errors of all joint by TMTG at the end of motion are within 0.007°. Therefore, TMTG is a functional solution for manipulators to construct time-optimal multi-point trajectories.