| Autor: |
Nadir Bendali, Mohammed Ouali |
| Jazyk: |
angličtina |
| Rok vydání: |
2016 |
| Předmět: |
|
| Zdroj: |
Mediterranean Journal of Modeling and Simulation, Vol 6, Iss 1, Pp 34-44 (2016) |
| ISSN: |
2335-1357 |
| Popis: |
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. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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