Time-Optimal Trajectory Planning for Delta Robot Based on Quintic Pythagorean-Hodograph Curves
In this paper, a time-optimal trajectory planning method based on quintic PythagoreanHodograph (PH) curves is proposed to realize the smooth and stable high-speed operation of the Delta parallel robot. The trajectory is determined by applying the quintic PH curves to the transition segments in the p...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8352812/ |