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

  • Minh-Tuan NguyenEmail author
  • Jin-Huang Huang
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 104)

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.

Keywords

Trajectory planning Single polynomial Time optimal trajectory Sequential quadratic programming 

Notes

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.

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Mechanical and Aeronautical EngineeringFeng Chia UniversityTaichungTaiwan, ROC
  2. 2.Department of Mechanical and Computer Aided EngineeringFeng Chia UniversityTaichungTaiwan, ROC
  3. 3.Faculty of Mechanical EngineeringHung Yen University of Technology and EducationHung YenVietnam

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