Cluster Computing

, Volume 22, Supplement 3, pp 6305–6314 | Cite as

Velocity optimization algorithm of 4-DOF robot end-effectors

  • Hua ZhangEmail author
  • Wenqi LuEmail author
  • Chuanyu Wu
  • Kong Tu


To solve the problem velocity control for robot end-effectors trajectory planning in the Cartesian space, this paper studied the algorithm of the linear acceleration and deceleration. Moreover, it proposed a velocity optimization algorithm based on the displacement equivalent. Adjusting the speed size of the acceleration and deceleration, the algorithm reduced the velocity mutation due to the discretized interpolation equation. The algorithm then was applied to the linear and circular interpolation of 4-degree of freedom industrial robots, establishing the forward and inverse kinematics equation based on Denavit–Hartenberg (D–H) coordinate system with implementing the optimization algorithm in the motion control system. Next, the velocity of the end-effectors was tested using the acceleration sensor and data logger. The results of simulation and experiment showed that velocity optimization algorithm eliminated the acceleration point and decreased the deceleration point on the velocity mutation.


Displacement equivalent Velocity control Linear interpolation Circular interpolation 



This work is funded by Zhejiang Province Public Welfare Technology Application Projects of China (2017C31036), and National Natural Science Foundation of China (NSFC) (U1609205, 51675488, 51307151), and Doctoral Research Foundation of Zhejiang Sci-Tech University (13022155-Y), and Zhejiang Province New Century 151 Project of China (11130031511703), and Zhejiang Province Key Major of Mechanic Engineering (ZSTUME01B07), and Zhejiang Provincial Natural Science Foundation of China (LY18E070006, LY18E050016).


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Zhejiang Provincial Key Laboratory of Modern Textile Equipment TechnologyZhejiang Sci-Tech UniversityHangzhouChina
  2. 2.College of Energy EngineeringZhejiang UniversityHangzhouChina
  3. 3.Zhejiang Dunan Artificial Environment Co., LtdZhujiChina

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