SYNCHRONIZED TRIGONOMETRIC S-CURVE TRAJECTORY FOR JERK-BOUNDED TIME-OPTIMAL PICK AND PLACE OPERATION

Saravana Perumaal and Natarajan Jawahar

Keywords

Motion profile, jerk, trajectory planning, Scurve, pick and place robot, optimization

Abstract

Industrial robots are predominately used in point-to-point applications such as machine loading and unloading and spot welding. A smooth and time-optimal trajectory of robot is essential for precise handling applications. Lot of jerk-limited motion profiles are proposed in the literature and are classified under two approaches. In the first approach, the motion profiles are generated using predefined intermediate points called knot or control points which are specified by the user for its interpolation. S-curve motion is another approach for jerk-limited motion. This paper presents an approach to generate a new synchronized jerk-bounded trigonometric S-curve trajectory for 6 DOF robotic manipulator that has the following features: acceleration and deceleration phases follow a sine wave form of jerk profile; each phase (acceleration, constant velocity and deceleration) of motion of all the “n" joints start and end at the same time instant (synchronized motion of the “n" joints). The results of numerical illustrations show that proposed trajectory able to generate synchronized, smooth trajectory with minimum execution time and much lesser jerk values when compared with spline-based trajectories which are found in literatures.

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