کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413786 680677 2012 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning
چکیده انگلیسی

In this paper, two minimum time-jerk trajectory planning algorithms for robotic manipulators have been considered, evaluated and experimentally validated. These algorithms consider both the execution time and the integral of the squared jerk along the whole trajectory, so as to take into account the need for fast execution and the need for a smooth trajectory, by adjusting the values of two weights. A comparative analysis of these algorithms with two different trajectory planning techniques taken from the literature has been carried out, by means of experimental tests performed on a real robotic manipulator. The results prove the experimental effectiveness of the proposed techniques.


► Experimental validation of two minimum time-jerk trajectory planning algorithms.
► Theoretical and experimental comparative analysis with other optimum algorithms.
► Trajectories planned and run on a Cartesian robot with a piezoelectric accelerometer.
► Effectiveness of the minimum time-jerk planning algorithms has been proven.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 2, April 2012, Pages 164–181
نویسندگان
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