Research On Adaptive Trajectory Smooth Transition Algorithm For Industrial Robot

While the applications of industrial robot increase greatly, the motion planning is required more and more strictly. The motion planning of position and orientation of robot task space can improve the precision and efficiency of robot. For the consideration, the smooth transition algorithms and continuous adaptive velocity planning algorithm of position and orientation of robot task space are researched in this article.As the base, several typical basic path of robot are analyzed in this paper, including the construction algorithms of basic path. On the base, the position and orientation smooth transition algorithms of robot task space are researched. The three non-uniform B-spline path is proposed. The control points are calculated by transitional points and its derivatives, so constructing the smooth position path. For the orientation smooth transition path, the three uniform quaternion spline path is proposed. The control points are calculated by basic smooth transition conditions, further, calculating the knot vector. So achieving the smooth orientation path.The trajectory planning algorithms of position and orientation are studied. Firstly, the position and orientation displacement formulas are received by smooth path, for the position and orientation spline, the position and orientation displacements are calculated by researching the relationship between path's derivatives and velocity and using the Simpson formula for numerical integration. Then, for the continuous velocity planning of smooth path, using the adaptive S-type velocity planning algorithm. Finally, to achieve synchronization between position and orientation, the max operation time between them is calculated.The motion simulation platform of 6-DOF series manipulator is built up in MATLAB, the joint values are obtained by inverse kinematics of robot, the simulation verifies the correctness and effectiveness of the algorithms proposed in this article, by observing continuity of angle, angular velocity and so on.