Mediterranean Journal of Modeling and Simulation
Volume 6, Numéro 1, Pages 034-044
2016-09-30

On-line Trajectory Planning Of Time-jerk Optimal For Robotic Arms



Authors : Bendali Nadir . Ouali Mohammed .

Abstract

A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predefined operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration) along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.

Keywords

Arm vibration; Trajectory planning; Time intervals; Cubic splines; Genetic algorithms.

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