Abstract
In order to improve the efficiency and trajectory tracking accuracy of a robot and reduce its vibration, this paper uses the sequential quadratic programming (SQP) method to perform time-jerk (defined as the derivative of the acceleration) optimal trajectory planning on a 7-degrees-of-freedom (DOF) redundant robot. Kinematic constraints such as joint velocities, accelerations, jerks, and traveling time are considered. When utilizing the SQP method, the initial input is set as average time intervals, and the output is optimal time intervals. Trajectory planning simulations in joint space are performed with optimal time intervals, the results showed that the SQP method is effective and feasible for improving working efficiency and decreasing vibration.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Gasparetto, A., Zanotto, V.: A technique for time-jerk optimal planning of robot trajectories. Robot. Comput. -Integr. Manuf. 24(3), 415–426 (2008)
Zanotto, V., Gasparetto, A., Lanzutti, A., Boscariol, P., Vidoni, R.: Experimental validation of minimum time-jerk algorithms for industrial robots. J. Intell. Robot. Syst. 64, 197–219 (2011)
Cao, Z.Y., Wang, H., Wu, W.R., Xie, H.J.: Time-jerk optimal trajectory planning of shotcrete manipulators. J. Cent. South. U. 44(1), 114–121 (2013)
Zhong, G.L., Kobayashi, Y., Emaru, T.: Minimum time-jerk trajectory generation for a mobile articulated manipulator. J. Chin. Soc. Mech. Eng. 35(4), 287–296 (2014)
Liu, F., Lin, F.: Time-jerk optimal planning of industrial robot trajectories. Int. J. Robot. Autom. 31(1), 1–7 (2016)
Cong, M., Xu, X.F., Xu, P.: Time-jerk synthetic optimal trajectory planning of robot based on fuzzy genetic algorithm. In: Proceedings of the 15th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Auckland, pp. 274–279 (2008)
Seraji, H.: Configuration control of redundant manipulators: theory and implementation. IEEE Trans. Robot. Autom. 5(4), 472–490 (1989)
Glasst, K., Colbaught, R., Lim, D., Seraji, H.: On-line collision avoidance for redundant manipulators. In: Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, pp. 36–43 (1993)
Kenneth, K.D., Long, M., Seraji, H.: Kinematic analysis of 7-DOF manipulators. Int. J. Robot. Res. 11(4), 469–481 (1992)
Xu, W.F., Zhang, J.T., Yan, L., Wang, Z.Y.: Parameterized inverse kinematics resolution method for a redundant space manipulator with link offset. J. Aeronaut. 36(1), 33–39 (2015)
Acknowledgments
This work is supported in part by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (Grant No. 51521003), the National Natural Science Foundation of China (NO. 61603112) and the Self-Planned Task (NO. SKLRS201721A) of State Key Laboratory of Robotics and System (HIT).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Jiang, L., Lu, S., Gu, Y., Zhao, J. (2017). Time-Jerk Optimal Trajectory Planning for a 7-DOF Redundant Robot Using the Sequential Quadratic Programming Method. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-65298-6_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65297-9
Online ISBN: 978-3-319-65298-6
eBook Packages: Computer ScienceComputer Science (R0)