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Velocity Constraints Based Online Trajectory Planning for High-Speed Parallel Robots

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

Trajectory planning method is important for stable and efficient sorting operations of robots. In this paper, a method for planning the equal-height picking-and-placing trajectory considering velocity constraint is proposed. The velocity constraint in start/end kinematics parameter makes the trajectory more adaptable to complex production line situations. An online trajectory optimization solution is proposed, which simplifies the solution of optimization problem and achieves the real-time nature of the method by BP neural networks. Simulation results on SR4 parallel robots show the effectiveness of the optimization method. The work done in this paper is of great help to the application of high-speed parallel robots.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China under Grants 51922057 and 91948301.

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Authors and Affiliations

  1. The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Di Yang, Fugui Xie & Xin-Jun Liu

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Fugui Xie & Xin-Jun Liu

Authors
  1. Di Yang
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  2. Fugui Xie
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  3. Xin-Jun Liu
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Corresponding author

Correspondence to Xin-Jun Liu .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Yang, D., Xie, F., Liu, XJ. (2021). Velocity Constraints Based Online Trajectory Planning for High-Speed Parallel Robots. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_66

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_66

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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