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An asymmetric S-curve trajectory planning based on an improved jerk profile

Published online by Cambridge University Press:  29 April 2024

Chol Jun Han Open the ORCID record for Chol Jun Han [Opens in a new window] ,
Kwang Rim Song  and
Un-Ryong Rim
Chol Jun Han*
Affiliation:
Robotics Institute, Kim Chaek University of Technology, Pyongyang, Democratic People’s Republic of Korea
Kwang Rim Song
Affiliation:
Faculty of Automatics, Kim Chaek University of Technology, Pyongyang, Democratic People’s Republic of Korea
Un-Ryong Rim
Affiliation:
Institute of Ocean Engineering, Kim Chaek University of Technology, Pyongyang, Democratic People’s Republic of Korea
*
Corresponding author: Chol Jun Han; Email: hcj901128@star-co.net.kp
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Abstract

In this paper, a method of planning the expanded S-curve trajectory of robotic manipulators is proposed to minimize the execution time as well as to achieve the smoother trajectory generation in the deceleration stage for point-to-point motions. An asymmetric parameter is added to the piecewise sigmoid function for an improved jerk profile. This asymmetric profile is continuous and infinitely differentiable. Based on this profile, two analytical algorithms are presented. One is applied to determine the suitable time intervals of trajectory satisfying the time optimality under the kinematic constraints, and the other is to determine the asymmetric parameter generating the minimum execution time. Also, the calculation procedure for the time-scaled synchronization for all joints is given to decrease unnecessary loads onto the actuators. The velocity, acceleration, jerk and snap (the derivative of jerk) of the joints and the end-effector are equal to zero at two end points of motion. The simulation results through 3 DOF and 6 DOF robotic manipulators show that our approach reduces the jerk and snap of the deceleration stage effectively while decreasing the total execution time. Also, the analysis for a single DOF mass-spring-damper system indicates that the residual vibration could be reduced to 10% more than the benchmark techniques in case velocity, acceleration and jerk are limited to 1.24 m/s, 6 m/s2 and 80 m/s3, respectively and displacement is set to 0.8m. These results manifest that the performance of reducing residual vibrations is good and demonstrate an important characteristic of the proposed profile suitable for point-to-point motion.

Keywords

trajectory planningasymmetric S-curvejerk profileindustrial robotpoint-to-point motionmotion planningpath planning

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 7 , July 2024 , pp. 2184 - 2208
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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