Abstract
Path-invariant corner transition trajectory planning is crucial for industrial robots to achieve error-controllable and smooth motion in many manufacturing applications. It usually consists of a spline-based local smoothing procedure for position and orientation linear segments and a real-time feedrate scheduling process. In traditional parameter-synchronization-based methods, the angular motion is regarded as a slave motion following the linear motion by sharing the same curve parameter, which might result in violation of angular kinematic constraints. To overcome this problem, this paper presents a real-time corner trajectory generation method based on a new time-synchronization algorithm. First, the position and orientation linear segments are G2-continuously transited by inserting error-controlled cubic B-splines and quaternion B-splines at the corners, and subdivided into numerous pairs of blocks. Then the jerk-limited motion profiles of each block pair are planned separately and synchronized to share the same motion duration. The motion profiles for all block pairs can be efficiently obtained by sequentially applying the proposed method from the first to the end block pair without the bi-directional scanning procedure in the literature. The resulting motion profiles respect tangential linear and angular kinematic limits up to jerk in Cartesian space and guarantee continuous acceleration of joint trajectories simultaneously. Simulation experiments verify the effectiveness of the proposed method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Peng, J., Huang, P., Ding, Y., Ding, H.: An analytical method for decoupled local smoothing of linear paths in industrial robots. Robot. Comput.-Integr. Manuf. 72, 102193 (2021). https://doi.org/10.1016/j.rcim.2021.102193
Tajima, S., Sencer, B.: Accurate real-time interpolation of 5-axis tool-paths with local corner smoothing. Int. J. Mach. Tools Manuf. 142, 1–15 (2019). https://doi.org/10.1016/j.ijmachtools.2019.04.005
Tulsyan, S., Altintas, Y.: Local toolpath smoothing for five-axis machine tools. Int. J. Mach. Tools Manuf. 96, 15–26 (2015). https://doi.org/10.1016/j.ijmachtools.2015.04.014
Grassmann, R.M., Burgner-Kahrs, J.: Quaternion-based smooth trajectory generator for Via poses in SE(3) considering kinematic limits in Cartesian space. IEEE Robot. Autom. Lett. 4, 4192–4199 (2019). https://doi.org/10.1109/LRA.2019.2931133
Sun, H., Yang, J., Li, D., Ding, H.: An on-line tool path smoothing algorithm for 6R robot manipulator with geometric and dynamic constraints. Sci. China Technol. Sci. 64, 1907–1919 (2021)
Bi, Q., Wang, Y., Zhu, L., Ding, H.: A practical continuous-curvature Bézier transition algorithm for high-speed machining of linear tool path. In: Jeschke, S., Liu, H., Schilberg, D. (eds.) ICIRA 2011. LNCS (LNAI), vol. 7102, pp. 465–476. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-25489-5_45
Huang, J., Du, X., Zhu, L.-M.: Real-time local smoothing for five-axis linear toolpath considering smoothing error constraints. Int. J. Mach. Tools Manuf. 124, 67–79 (2018)
Zhao, H., Zhu, L., Ding, H.: A real-time look-ahead interpolation methodology with curvature-continuous B-spline transition scheme for CNC machining of short line segments. Int. J. Mach. Tools Manuf. 65, 88–98 (2013). https://doi.org/10.1016/j.ijmachtools.2012.10.005
Hu, Q., Chen, Y., Jin, X., Yang, J.: A real-time C3 continuous local corner smoothing and interpolation algorithm for CNC machine tools. J. Manuf. Sci. Eng. 141, 041004 (2019)
Xiao, Q.-B., Wan, M., Liu, Y., Qin, X.-B., Zhang, W.-H.: Space corner smoothing of CNC machine tools through developing 3D general Clothoid. Robot. Comput.-Integr. Manuf. 64, 101949 (2020)
Yang, J., Li, D., Ye, C., Ding, H.: An analytical C3 continuous tool path corner smoothing algorithm for 6R robot manipulator. Robot. Comput.-Integr. Manuf. 64, 101947 (2020)
Huang, J., Lu, Y., Zhu, L.-M.: Real-time feedrate scheduling for five-axis machining by simultaneously planning linear and angular trajectories. Int. J. Mach. Tools Manuf. 135, 78–96 (2018). https://doi.org/10.1016/j.ijmachtools.2018.08.006
Huang, X., Zhao, F., Tao, T., Mei, X.: A novel local smoothing method for five-axis machining with time-synchronization Feedrate scheduling. IEEE Access 8, 89185–89204 (2020). https://doi.org/10.1109/ACCESS.2020.2992022
Dam, E.B., Koch, M., Lillholm, M.: Quaternions, Interpolation and Animation. Datalogisk Institut, Københavns Universitet, Copenhagen (1998)
Kim, M.-J., Kim, M.-S., Shin, S.Y.: A general construction scheme for unit quaternion curves with simple high order derivatives. In: Proceedings of the 22nd Annual Conference on Computer Graphics and Interactive Techniques - SIGGRAPH ’95, pp. 369–376. ACM Press (1995). https://doi.org/10.1145/218380.218486
Lin, M.-T., Tsai, M.-S., Yau, H.-T.: Development of a dynamics-based NURBS interpolator with real-time look-ahead algorithm. Int. J. Mach. Tools Manuf. 47, 2246–2262 (2007)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Peng, J., Zhang, Z., Chen, W. (2023). Real-Time Smooth Corner Trajectory Planning for Industrial Robots Under Linear and Angular Kinematic Constraints. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_27
Download citation
DOI: https://doi.org/10.1007/978-981-99-6480-2_27
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6479-6
Online ISBN: 978-981-99-6480-2
eBook Packages: Computer ScienceComputer Science (R0)