Research on Robot Trajectory Planning Based on Interpolation with Cosine Function Transition in Joint Space

Suoxian Yuan, Ruifeng Huang, Fuming Yu, Hehua Niu

Abstract


In order to improve industrial robotic smooth and steady property, reduce vibration and impact and avoid fluctuation in motion, a new method for the robot trajectory planning based on interpolation with cosine function transition in joint space was proposed. The three common trajectory planning methods in the joint space, including interpolation using cubic polynomial, interpolation using quintic polynomial and interpolation with parabola transition, and the method based on interpolation with cosine function transition were compared and analyzed in terms of joint positions, joint velocity and joint acceleration. There are many characteristics of the method based on interpolation with cosine function transition through the comparison and analysis. The characteristics include smooth position curve of joint, no fluctuation the lower joint maximum velocity and implement easily, good motion performance and no acceleration in some motion process and then the wear of robot joint parts can be reduced. The conclusion was obtained that the new method has a good comprehensive function finally.


DOI
10.12783/dtmse/icimm2016/6237

Full Text:

PDF

Refbacks

  • There are currently no refbacks.