IAES International Journal of Robotics and Automation (IJRA)
Vol 3, No 3: September 2014

A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations

Bendali Nadir (University Blida)
Ouali Mohammed (University Blida)
Kifouche Abdessalam (University Val d’Essonne)

Article Info

Publish Date
01 Sep 2014

Abstract

A new method for time-jerk optimal planning under Kino-dynamic constraints of robot manipulators in pick-and-place 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 makes it possible to deal with the kinematic constraints as well as the dynamic constraints imposed on the robot manipulator. The algorithm has been tested in simulation yielding good results.

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Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...