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Open AccessArticle

Predictable Trajectory Planning of Industrial Robots with Constraints

School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
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Appl. Sci. 2018, 8(12), 2648; https://doi.org/10.3390/app8122648
Received: 6 November 2018 / Revised: 6 December 2018 / Accepted: 7 December 2018 / Published: 17 December 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
Trajectory prediction is currently attracting considerable attention. This paper proposes geodesic trajectory planning with end-effector and joint constraints to predict the trajectory properties of the end-effector, such as velocities, accelerations, and smoothness. The prediction of the trajectory properties is independent of the joint trajectories. The prediction makes it possible to adjust the trajectory properties in line with a light computational burden. To demonstrate the effectiveness of the proposed method, experiments were conducted using the Efort robot. The experiments show that the proposed method can predict the properties of the trajectory and modify the trajectory to meet the constraints. View Full-Text
Keywords: predictable trajectory planning; geodesic; constrained motion predictable trajectory planning; geodesic; constrained motion
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Chen, Y.; Li, L. Predictable Trajectory Planning of Industrial Robots with Constraints. Appl. Sci. 2018, 8, 2648.

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