Sign in to use this feature.

Years

Between: -

Subjects

remove_circle_outline

Journals

Article Types

Countries / Regions

Search Results (1)

Search Parameters:
Keywords = 12-phase sine jerk motion profile

Order results
Result details
Results per page
Select all
Export citation of selected articles as:
18 pages, 3918 KiB  
Article
Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile
by Shengqiao Hu, Huimin Kang, Hao Tang, Zhengjie Cui, Zhicheng Liu and Puren Ouyang
Actuators 2021, 10(4), 80; https://doi.org/10.3390/act10040080 - 16 Apr 2021
Cited by 9 | Viewed by 4004
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 [...] Read more.
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. Full article
(This article belongs to the Special Issue Robotics and Control: State of the Art)
Show Figures

Figure 1

Back to TopTop