دورية أكاديمية
Velocity Constraints Based Approach for Online Trajectory Planning of High-Speed Parallel Robots
| العنوان: | Velocity Constraints Based Approach for Online Trajectory Planning of High-Speed Parallel Robots |
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| المؤلفون: | Di Yang, Fugui Xie, Xinjun Liu |
| المصدر: | Chinese Journal of Mechanical Engineering, Vol 35, Iss 1, Pp 1-12 (2022) |
| بيانات النشر: | SpringerOpen, 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Ocean engineering LCC:Mechanical engineering and machinery |
| مصطلحات موضوعية: | Trajectory planning, High-speed parallel robot, Velocity constraints, BP neural network, Ocean engineering, TC1501-1800, Mechanical engineering and machinery, TJ1-1570 |
| الوصف: | Abstract High-speed parallel robots have been extensively utilized in the light industry. However, the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable operation cannot be ignored during the high-speed reciprocating motion. Thus, trajectory planning is essential for efficiency and stability from pick-and-place (PAP) actions. This paper presents a method for planning the equal-height pick-and-place trajectory considering velocity constraints to improve the PAP efficiency and stability of high-speed parallel robots. The velocity constraints in the start-and-end points can reduce vibration from picking and placing, making the trajectory more suitable to complex beltline situations. Based on velocity constraints, trajectory optimization includes trajectory smoothness and joint torque to optimize cycle time is carried out. This paper proposes an online trajectory optimization solution. By using back propagation (BP) neural networks, the solution is simplified and can be solved in real-time. Simulation and experiments were carried out on the SR4 parallel robot. The results show that the proposed method improves the efficiency, smoothness, and stability of the robot. This paper proposes an online trajectory planning method which is velocity constraints based and can improve the efficiency and stability of high-speed parallel robots. The work of this research is conducive to finely applying high-speed parallel robots. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1000-9345 2192-8258 |
| Relation: | https://doaj.org/toc/1000-9345; https://doaj.org/toc/2192-8258 |
| DOI: | 10.1186/s10033-022-00800-6 |
| URL الوصول: | https://doaj.org/article/3b51c66dbc7244d19b4466137ef4b243 |
| رقم الأكسشن: | edsdoj.3b51c66dbc7244d19b4466137ef4b243 |
| قاعدة البيانات: | Directory of Open Access Journals |
Find this article in full text from Springer Verlag. 
Full Text Finder | تدمد: | 10009345 21928258 |
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| DOI: | 10.1186/s10033-022-00800-6 |