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Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Published online by Cambridge University Press:  15 September 2022

Luchuan Yu Open the ORCID record for Luchuan Yu [Opens in a new window] ,
Shunqing Zhou Open the ORCID record for Shunqing Zhou [Opens in a new window]  and
Shenquan Huang
Luchuan Yu*
Affiliation:
College of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou 325035, PR China
Shunqing Zhou
Affiliation:
College of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou 325035, PR China
Shenquan Huang
Affiliation:
College of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou 325035, PR China
*
*Corresponding author. E-mail: yulcsdu@foxmail.com
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Abstract

The coordinated motion between the press and the feeding mechanism directly determines the production efficiency of the high-speed stamping line. In order to generate the high-performance trajectory of the feeding mechanism, this paper investigates the optimization of the trajectory with the local variable period. Based on the quintic B-spline curve and normal distribution, the smooth interpolation method of variable-time interval is proposed to generate the collision-free and energy-jerk-minimal trajectory with variable-time intervals. The advantage of the proposed method is that it can make the feeding mechanism transition smoothly between districts of variable-time and fixed-time intervals. It is beneficial to avoid re-performing the entire process of trajectory planning. ADAMS and actual experiments are used to validate the effectiveness of the proposed method. Results show that the proposed method can maintain the high performance of the initial trajectory, and there is no sharp point in the displacement-time and velocity-time curves. The investigation provides a new direction for the direct generation of local variable-period trajectories in the multi-machine coordination of the stamping line.

Keywords

trajectory planningvariable periodquintic B-spline curvemulti-DOF manipulatorstamping line
Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 292 - 305
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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