Jerk-limited spatial PH trajectory generation for high-speed robotics application

Publish Year: 1401
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:

ICME19_127

تاریخ نمایه سازی: 19 اردیبهشت 1402

Abstract:

This paper presents a novel algorithm for generating spatialPH trajectories for high-speed robotics applications based onjerk-limited motion law. It addresses the challengesassociated with traditional trajectory planning methods andprovides a solution for generating smooth and efficienttrajectories. Simulations show that it can achieve faster andmore accurate motion control than traditional methods, whileensuring safety and efficiency. The proposed algorithmprovides a promising solution for addressing the challengesand opens up new possibilities for the development ofadvanced robotic systems.

Keywords:

Spatial trajectory generation – Jerk limit –Pythagorean-hodograph – High speed

Authors

Mohammad Malekzadeh Arasteh

Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad, Mashhad, Iran

Amirhossein Nazari

Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad, Mashhad, Iran

Alireza Akbarzadeh

Center of Advance Rehabilitation and Robotic Research (FUM-CARE), Mechanical EngineeringDepartment, Ferdowsi University of Mashhad , Mashhad, Iran

Behnam Motakef Imani

CAD/CAM laboratory, Mechanical Engineering Department, Engineering Faculty, Ferdowsi Universityof Mashhad, Mashhad, Iran