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Volume 10
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Article

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

by
Shengqiao Hu
1,
Huimin Kang
1,*,
Hao Tang
1,
Zhengjie Cui
1,
Zhicheng Liu
1 and
Puren Ouyang
2
1
College of Electrical and Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China
2
Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
*
Author to whom correspondence should be addressed.
Actuators 2021, 10(4), 80; https://doi.org/10.3390/act10040080
Submission received: 7 April 2021 / Revised: 13 April 2021 / Accepted: 14 April 2021 / Published: 16 April 2021
(This article belongs to the Special Issue Robotics and Control: State of the Art)
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Abstract

To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher.
Keywords: redundant parallel robot; joint space; trajectory optimization; 12-phase sine jerk motion profile; penalty function redundant parallel robot; joint space; trajectory optimization; 12-phase sine jerk motion profile; penalty function

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MDPI and ACS Style

Hu, S.; Kang, H.; Tang, H.; Cui, Z.; Liu, Z.; Ouyang, P. Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile. Actuators 2021, 10, 80. https://doi.org/10.3390/act10040080

AMA Style

Hu S, Kang H, Tang H, Cui Z, Liu Z, Ouyang P. Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile. Actuators. 2021; 10(4):80. https://doi.org/10.3390/act10040080

Chicago/Turabian Style

Hu, Shengqiao, Huimin Kang, Hao Tang, Zhengjie Cui, Zhicheng Liu, and Puren Ouyang. 2021. "Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile" Actuators 10, no. 4: 80. https://doi.org/10.3390/act10040080

APA Style

Hu, S., Kang, H., Tang, H., Cui, Z., Liu, Z., & Ouyang, P. (2021). Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile. Actuators, 10(4), 80. https://doi.org/10.3390/act10040080

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