TY - GEN
T1 - Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories
AU - Kwon, Hoon
AU - Ahn, Kuk Hyun
AU - Song, Jae Bok
N1 - 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: kwonhoon2@korea.ac.kr).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/20
Y1 - 2018/8/20
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85053531957&partnerID=8YFLogxK
U2 - 10.1109/URAI.2018.8441777
DO - 10.1109/URAI.2018.8441777
M3 - Conference contribution
AN - SCOPUS:85053531957
SN - 9781538663349
T3 - 2018 15th International Conference on Ubiquitous Robots, UR 2018
SP - 847
EP - 851
BT - 2018 15th International Conference on Ubiquitous Robots, UR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Ubiquitous Robots, UR 2018
Y2 - 27 June 2018 through 30 June 2018
ER -