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Smooth and Time Optimal Trajectory Planning for Industrial Robot Using a Single Polynomial

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Advances in Engineering Research and Application (ICERA 2019)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 104))

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Abstract

This paper proposes a method for smoothing and optimizing trajectory in robotics. The trajectory in the joint space with the constraints of velocity, acceleration and jerk is interpolated by a single polynomial and the traveling time is then minimized by sequential quadratic programming algorithm. The proposed approach is performed on an industrial robot and results are compared with another planning method. The results show that the single polynomial makes the trajectory simple because only one interpolation polynomial is used while the continuity conditions of the trajectory, velocity, acceleration and jerk are simultaneously satisfied. Additionally, the optimized traveling time is also obtained.

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Acknowledgement

This research was supported by the Ministry of Science and Technology of Taiwan under Contract Nos. MOST 107-2221-E-035-074-MY3 and MOST 107-2218-E-035-016.

Author information

Authors and Affiliations

  1. Mechanical and Aeronautical Engineering, Feng Chia University, No. 100 Wenhwa Rd., Seatwen, Taichung, 40724, Taiwan, ROC

    Minh-Tuan Nguyen

  2. Department of Mechanical and Computer Aided Engineering, Feng Chia University, No. 100 Wenhwa Rd., Seatwen, Taichung, 40724, Taiwan, ROC

    Jin-Huang Huang

  3. Faculty of Mechanical Engineering, Hung Yen University of Technology and Education, Dan Tien Commune, Khoai Chau, Hung Yen, 160000, Vietnam

    Minh-Tuan Nguyen

Authors
  1. Minh-Tuan Nguyen
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  2. Jin-Huang Huang
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Corresponding author

Correspondence to Minh-Tuan Nguyen .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, TU Ilmenau, Ilmenau, Thüringen, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, TU Ilmenau, Ilmenau, Thüringen, Germany

    Horst Puta

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Nguyen, MT., Huang, JH. (2020). Smooth and Time Optimal Trajectory Planning for Industrial Robot Using a Single Polynomial. In: Sattler, KU., Nguyen, D., Vu, N., Tien Long, B., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2019. Lecture Notes in Networks and Systems, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-37497-6_76

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