Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint

Round 1

Reviewer 1 Report

For planning PTP industrial robots, the type of methodology based on the modified Hermit interpolation is proposed.  On the basis of Hermite interpolation, new target knots are reconstructed from the initial target knots. Then, newly-built knots instead of old initial knots are used to carry out joint motion planning. Using the proposed methodology, not only does the motion planning meet the requirements for angular displacement and angular velocity at the initial knots, but also the angular acceleration of the whole planning is continuous without broken points. Moreover, the maximum order of the planning functions is three, which avoids the velocity fluctuation caused by the higher-order functions such as quintic polynomial. Therefore, the problems existing in cubic polynomial planning and quintic polynomial planning can be solved well.

A study case is given to verify the rationality and effectiveness of the proposed method. The case study results show that, compared with the other two planning methods, the proposed methodology is applied well to PTP joint motion planning with velocity constraints, and is conducive to the working performance and service life of industrial robots.

I like the article and consider it partially original.

In the present article would also be appropriate to indicate the planned continuation of research in the area.

Author Response

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Reviewer 2 Report

This a good piece of work. It deserves to be published.

However, the approach ist heuristic. For further research in this area optimal control theory shut be considered as starting point of the investigations. 

Author Response

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Author Response File: Author Response.docx