Title: Development of articulated robot trajectory planning

Authors: Zhe Li; Gongfa Li; Ying Sun; Guozhang Jiang; Jianyi Kong; Honghai Liu

Addresses: College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430080, China ' College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430080, China ' College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430080, China ' College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430080, China ' College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430080, China ' State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; Intelligent Systems and Biomedical Robotics Group, School of Computing, University of Portsmouth, Portsmouth, PO1 3HE, UK

Abstract: Articulated robot is now widely employed in manufacture, such as, welding, painting, and assembly, with high precision and endurance. It plays an important role in scientific and technological innovation. Trajectory planning of articulated robot is one of the key researches in industrial robot. The commonly used trajectory planning algorithm of articulated robot, such as, polynomial interpolation algorithm in joint space and linear interpolation in Cartesian space are introduced. Researches on articulated robot trajectory planning are surveyed. Meanwhile these articulated robot trajectory planning algorithms are analysed. Some further researches and developing trend of articulated robot trajectory planning are indicated.

Keywords: articulated robots; trajectory planning; joint space; Cartesian space; robot trajectories; polynomial interpolation; linear interpolation.

DOI: 10.1504/IJCSM.2017.083152

International Journal of Computing Science and Mathematics, 2017 Vol.8 No.1, pp.52 - 60

Available online: 21 Mar 2017 *

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