Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint
نویسندگان
چکیده
As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial has the problem of discontinuous acceleration; quintic requires acceleration to be specified in advance, which will likely cause velocity fluctuate largely because appropriate assigned advance is hardly acquired. Aiming at these problems, a modified Hermite interpolation was proposed. In proposed methodology, knots need reconfigured according initial knots. The formulas how build new were put forward after derivation. Using newly-built instead interpolation, carried out. purpose that not only satisfied displacement and constraints but also guaranteed C2 continuity less fluctuation. A study case given verify rationality effectiveness methodology. Compared other two methods, it proved raised problems can solved effectively via beneficial working performance service life robots.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2021
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app11198879