Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories

Hoon Kwon, Kuk Hyun Ahn, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

It is important to generate an appropriate traj ectory in task space in the traj ectory planning of industrial robots. Many industrial robots blend linear and circular traj ectories in their traj ectory generation with several advantages. However, it does not provide a detailed method for the smooth motion of position and orientation of the blending traj ectory. This study proposes a circular path based traj ectory blending algorithm considering time synchronization of position and orientation of the blending traj ectory. This algorithm can generate a more smooth and natural motion by matching the duration time of position and orientation of the blending trajectory using a simple geometric shape based equations. The proposed algorithm was evaluated using a 7 DOF industrial manipulator. The experimental results show that the proposed algorithm can operate stably for various cases.

Original languageEnglish
Title of host publication2018 15th International Conference on Ubiquitous Robots, UR 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages847-851
Number of pages5
ISBN (Print)9781538663349
DOIs
Publication statusPublished - 2018 Aug 20
Event15th International Conference on Ubiquitous Robots, UR 2018 - Honolulu, United States
Duration: 2018 Jun 272018 Jun 30

Other

Other15th International Conference on Ubiquitous Robots, UR 2018
CountryUnited States
CityHonolulu
Period18/6/2718/6/30

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Mechanical Engineering

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