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Research Papers

Validation of Minimum Time-Jerk Algorithms for Trajectory Planning of Industrial Robots

[+] Author and Article Information
A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto

e-mail: gasparetto@uniud.ite-mail: albano.lanzutti@uniud.ite-mail: renato.vidoni@uniud.ite-mail: vanni.zanotto@uniud.it Department of Electrical, Mechanical, and Management Engineering, University of Udine, via delle Scienze 208, 33100, Udine, Italy

J. Mechanisms Robotics 3(3), 031003 (Jul 19, 2011) (12 pages) doi:10.1115/1.4004017 History: Received June 11, 2009; Revised April 05, 2011; Published July 19, 2011; Online July 19, 2011

In this paper, an experimental analysis and validation of a minimum time-jerk trajectory planning algorithm is presented. The technique considers both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the need for fast execution and the need for a smooth trajectory, by adjusting the values of two weights. The experimental tests have been carried out by using an accelerometer mounted on a Cartesian robot. The algorithm does not require a dynamic model of the robot, but just its mechanical constraints, and can be implemented in any industrial robot. The outcomes of the tests have been compared with both simulation and experimental results yielded by two trajectory planning algorithms taken from the literature.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 4

Measured accelerations for trajectory 1

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Figure 5

Trajectory 2 joints accelerations (BSPL5J versus SPL3J versus PROP)

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Figure 6

Measured accelerations for trajectory 2

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Figure 7

Z-velocity, acceleration and jerk simulated for trajectory 3

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Figure 8

Measured acceleration and time-intervals distribution for trajectory 3 (SPL3J)

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Figure 9

Measured acceleration and time-intervals distribution for trajectory 3 (BSPL5J)

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Figure 10

Measured acceleration and time-intervals distribution for trajectory 3 (MJ)

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Figure 11

Measured acceleration and time-intervals distribution for trajectory 3 (PROP)

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Figure 1

The Cartesian manipulator used for testing the algorithm

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Figure 2

Trajectory 3 joints positions using the PROP algorithm (simulation versus experimental)

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Figure 3

Trajectory 1 joints accelerations (BSPL5J versus SPL3J versus PROP)

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