Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories

Hoon Kwon; Kuk Hyun Ahn; Jae Bok Song

doi:10.1109/URAI.2018.8441777

Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories

Hoon Kwon, Kuk Hyun Ahn, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

It is important to generate an appropriate traj ectory in task space in the traj ectory planning of industrial robots. Many industrial robots blend linear and circular traj ectories in their traj ectory generation with several advantages. However, it does not provide a detailed method for the smooth motion of position and orientation of the blending traj ectory. This study proposes a circular path based traj ectory blending algorithm considering time synchronization of position and orientation of the blending traj ectory. This algorithm can generate a more smooth and natural motion by matching the duration time of position and orientation of the blending trajectory using a simple geometric shape based equations. The proposed algorithm was evaluated using a 7 DOF industrial manipulator. The experimental results show that the proposed algorithm can operate stably for various cases.

Original language	English
Title of host publication	2018 15th International Conference on Ubiquitous Robots, UR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	847-851
Number of pages	5
ISBN (Print)	9781538663349
DOIs	https://doi.org/10.1109/URAI.2018.8441777
Publication status	Published - 2018 Aug 20
Event	15th International Conference on Ubiquitous Robots, UR 2018 - Honolulu, United States Duration: 2018 Jun 27 → 2018 Jun 30

Publication series

Name	2018 15th International Conference on Ubiquitous Robots, UR 2018

Other

Other	15th International Conference on Ubiquitous Robots, UR 2018
Country/Territory	United States
City	Honolulu
Period	18/6/27 → 18/6/30

Bibliographical note

Funding Information:
* This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10063413) Hoon Kwon and Kuk-Hyun Ahn are with the School of Mechanical Engineering, Korea University, Seoul, 02841, Korea (phone: +82-2-923-3591; e-mail: [email protected]).

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Control and Optimization
Mechanical Engineering

Access to Document

10.1109/URAI.2018.8441777

Cite this

Kwon, H., Ahn, K. H., & Song, J. B. (2018). Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories. In 2018 15th International Conference on Ubiquitous Robots, UR 2018 (pp. 847-851). Article 8441777 (2018 15th International Conference on Ubiquitous Robots, UR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2018.8441777

Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories. / Kwon, Hoon; Ahn, Kuk Hyun; Song, Jae Bok.
2018 15th International Conference on Ubiquitous Robots, UR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 847-851 8441777 (2018 15th International Conference on Ubiquitous Robots, UR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kwon, H, Ahn, KH & Song, JB 2018, Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories. in 2018 15th International Conference on Ubiquitous Robots, UR 2018., 8441777, 2018 15th International Conference on Ubiquitous Robots, UR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 847-851, 15th International Conference on Ubiquitous Robots, UR 2018, Honolulu, United States, 18/6/27. https://doi.org/10.1109/URAI.2018.8441777

Kwon H, Ahn KH, Song JB. Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories. In 2018 15th International Conference on Ubiquitous Robots, UR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 847-851. 8441777. (2018 15th International Conference on Ubiquitous Robots, UR 2018). doi: 10.1109/URAI.2018.8441777

Kwon, Hoon ; Ahn, Kuk Hyun ; Song, Jae Bok. / Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories. 2018 15th International Conference on Ubiquitous Robots, UR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 847-851 (2018 15th International Conference on Ubiquitous Robots, UR 2018).

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abstract = "It is important to generate an appropriate traj ectory in task space in the traj ectory planning of industrial robots. Many industrial robots blend linear and circular traj ectories in their traj ectory generation with several advantages. However, it does not provide a detailed method for the smooth motion of position and orientation of the blending traj ectory. This study proposes a circular path based traj ectory blending algorithm considering time synchronization of position and orientation of the blending traj ectory. This algorithm can generate a more smooth and natural motion by matching the duration time of position and orientation of the blending trajectory using a simple geometric shape based equations. The proposed algorithm was evaluated using a 7 DOF industrial manipulator. The experimental results show that the proposed algorithm can operate stably for various cases.",

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note = "Funding Information: * This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10063413) Hoon Kwon and Kuk-Hyun Ahn are with the School of Mechanical Engineering, Korea University, Seoul, 02841, Korea (phone: +82-2-923-3591; e-mail: [email protected]). Publisher Copyright: {\textcopyright} 2018 IEEE.; 15th International Conference on Ubiquitous Robots, UR 2018 ; Conference date: 27-06-2018 Through 30-06-2018",

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AB - It is important to generate an appropriate traj ectory in task space in the traj ectory planning of industrial robots. Many industrial robots blend linear and circular traj ectories in their traj ectory generation with several advantages. However, it does not provide a detailed method for the smooth motion of position and orientation of the blending traj ectory. This study proposes a circular path based traj ectory blending algorithm considering time synchronization of position and orientation of the blending traj ectory. This algorithm can generate a more smooth and natural motion by matching the duration time of position and orientation of the blending trajectory using a simple geometric shape based equations. The proposed algorithm was evaluated using a 7 DOF industrial manipulator. The experimental results show that the proposed algorithm can operate stably for various cases.

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Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories

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