Predictable Trajectory Planning of Industrial Robots with Constraints
Source abstract
Abstract
Trajectory prediction is currently attracting considerable attention. This paper proposes geodesic trajectory planning with end-effector and joint constraints to predict the trajectory properties of the end-effector, such as velocities, accelerations, and smoothness. The prediction of the trajectory properties is independent of the joint trajectories. The prediction makes it possible to adjust the trajectory properties in line with a light computational burden. To demonstrate the effectiveness of the proposed method, experiments were conducted using the Efort robot. The experiments show that the proposed method can predict the properties of the trajectory and modify the trajectory to meet the constraints.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Robotic Path Planning Algorithms · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
Funding
Beijing Science and Technology Plan
References (17)
Show source-provided references
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