An improved geodesic algorithm for trajectory planning of multi-joint robots
The present work proposes an improved geodesic algorithm for the trajectory planning of multi-joint robots. First, all of the joint variables are chosen to set up a generalized local coordinate system for the product of the positional space and the orientational one. Second, by defining a new Rieman...
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doaj-e4465642ffb14e7ebaf0dc678a1f93e92020-11-25T03:34:20ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-09-011310.1177/172988141665774210.1177_1729881416657742An improved geodesic algorithm for trajectory planning of multi-joint robotsYoudong Chen0Ling Li1Wei Tang2 The school of Mechanical Engineering and Automation, Beihang University, Beijing, China The school of Mechanical Engineering and Automation, Beihang University, Beijing, China Hefei University of Technology, Hefei, Anhui, ChinaThe present work proposes an improved geodesic algorithm for the trajectory planning of multi-joint robots. First, all of the joint variables are chosen to set up a generalized local coordinate system for the product of the positional space and the orientational one. Second, by defining a new Riemannian metric that contains both the positional and rational parameters, the traditional geodesic algorithm is improved so that it becomes capable of planning robot trajectories that include both the position and the orientation. To demonstrate the effectiveness of the improvement, trajectories are planned for two typical joint robots: one being a planar 3R and the other a spatial RRPP. It is verified that the improved algorithm can generate not only smooth motions for the joints but also smooth and accurate motions for the end-effector. The improved algorithm applies to multi-joint robots with no more than six degrees of freedom.https://doi.org/10.1177/1729881416657742 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Youdong Chen Ling Li Wei Tang |
spellingShingle |
Youdong Chen Ling Li Wei Tang An improved geodesic algorithm for trajectory planning of multi-joint robots International Journal of Advanced Robotic Systems |
author_facet |
Youdong Chen Ling Li Wei Tang |
author_sort |
Youdong Chen |
title |
An improved geodesic algorithm for trajectory planning of multi-joint robots |
title_short |
An improved geodesic algorithm for trajectory planning of multi-joint robots |
title_full |
An improved geodesic algorithm for trajectory planning of multi-joint robots |
title_fullStr |
An improved geodesic algorithm for trajectory planning of multi-joint robots |
title_full_unstemmed |
An improved geodesic algorithm for trajectory planning of multi-joint robots |
title_sort |
improved geodesic algorithm for trajectory planning of multi-joint robots |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2016-09-01 |
description |
The present work proposes an improved geodesic algorithm for the trajectory planning of multi-joint robots. First, all of the joint variables are chosen to set up a generalized local coordinate system for the product of the positional space and the orientational one. Second, by defining a new Riemannian metric that contains both the positional and rational parameters, the traditional geodesic algorithm is improved so that it becomes capable of planning robot trajectories that include both the position and the orientation. To demonstrate the effectiveness of the improvement, trajectories are planned for two typical joint robots: one being a planar 3R and the other a spatial RRPP. It is verified that the improved algorithm can generate not only smooth motions for the joints but also smooth and accurate motions for the end-effector. The improved algorithm applies to multi-joint robots with no more than six degrees of freedom. |
url |
https://doi.org/10.1177/1729881416657742 |
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