The robot motion trajectory algorithm research based on B-spline and new velocity planning

2016 ◽  
Author(s):  
Shi Bu Hai ◽  
He JingPeng
Keyword(s):  
Robot Motion ◽  
Motion Trajectory ◽  
B Spline ◽  
Velocity Planning

Dual-arm robot motion planning for collision avoidance using B-spline curve

2017 ◽  
Vol 18 (6) ◽  
pp. 835-843 ◽  
Author(s):  
Younsung Choi ◽  
Donghyung Kim ◽  
Soonwoong Hwang ◽  
Hyeonguk Kim ◽  
Namwun Kim ◽  
...  
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
B Spline ◽  
Spline Curve ◽  
Dual Arm Robot ◽  
Dual Arm

scholarly journals A new method for high speed and smooth transfer of robot motion trajectory

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401663830 ◽  
Author(s):  
Haikuo Shen ◽  
Liangwei Jiang ◽  
Qinjian Zhang ◽  
Yong Tao ◽  
Yunan Cao
Keyword(s):  
High Speed ◽  
New Method ◽  
Robot Motion ◽  
Motion Trajectory

Simulation of Robot Motion Operating in the Workcell to Specify Servomotors in its Individual Joints

2014 ◽  
Vol 718 ◽  
pp. 83-87
Author(s):  
Katarina Monkova ◽  
Andrea Cizikova
Keyword(s):  
Inverse Kinematics ◽  
Virtual Simulation ◽  
Robot Motion ◽  
Motion Trajectory ◽  
The Real ◽  
Computer Aid ◽  
Specific Position ◽  
End Effectors ◽  
Definition Of

Robots and manipulators are often part of technological workshop. Their end effectors usually repeat motion at the same path so to be the workpiece transferred and oriented into the specific position. With the definition of the servomotors and drivers in individual joints of robot, when the motion trajectory of selected point is known, is concerned part of mechanics so called inverse kinematics. The article deals with virtual simulation of robot motion as a tool that supports the research of kinematics characteristics in individual joints. Software PTC Creo was used for the computer aid of modelling and servomotors investigation. Obtained dependences of accelerations in time for each joint can be backward used at the controlling of robot motion in the real conditions.

scholarly journals Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 199747-199758
Author(s):  
Shanxiang Fang ◽  
Jianguo Cao ◽  
Zhengyang Zhang ◽  
Qinjian Zhang ◽  
Weidong Cheng
Keyword(s):  
High Speed ◽  
Robot Motion ◽  
Motion Trajectory

Development of Dual-Arm Assistant Robot: Motion Trajectory Planning for the Manipulator Arm

2017 ◽  
Vol 11 (9) ◽  
pp. 683
Author(s):  
Ivan Vladimirovich Krechetov ◽  
Arkady Alekseevich Skvortsov ◽  
Pavel Sergeevich Lavrikov ◽  
Vladislavs Korotkovs
Keyword(s):  
Trajectory Planning ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Manipulator Arm ◽  
Dual Arm

A practical real-time non-uniform rational B-spline curve interpolator for computer numerical control machining

2011 ◽  
Vol 226 (4) ◽  
pp. 1068-1083 ◽  
Author(s):  
J-G Li ◽  
M-M Qiu ◽  
T-H Zhang ◽  
Z-X Li
Keyword(s):  
Real Time ◽  
Computer Numerical Control ◽  
Numerical Control ◽  
Continuous Line ◽  
Nurbs Curve ◽  
Line Segments ◽  
B Spline ◽  
Nurbs Interpolator ◽  
Nurbs Curves ◽  
Velocity Planning

Non-uniform rational B-spline (NURBS) interpolator, a key technique in computer numerical control (CNC) machining, has many advantages over linear and circular interpolator. A practical real-time NURBS interpolator based on an off-line algorithm, which is developed to handle the limitation of velocity and acceleration, is presented in this article. Two processing modules are employed to realize the real-time interpolator. In one module, a NURBS curve is split into shorter NURBS curves or approximated as continuous line segments according to the minimum splitting length first, and then the velocity planning of a short curve is applied. Inthe other module, the interpolation according to the velocity planning results is implemented. The proposed algorithm realizes the real-time velocity planning and interpolation of a NURBS curve regardless of the curve length or the continuity. It is also applicable to three-dimensional surface designed by computer-aided design system, which is composed of multiple NURBS curves or both NURBS curves and continuous line segments. Both the simulation and experiment results have proved the effectiveness of the proposed practical real-time NURBS interpolator.

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gaoping Xu ◽  
Hao Zhang ◽  
Zhuo Meng ◽  
Yize Sun
Keyword(s):  
Local Maximum ◽  
Good Effect ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Interpolation Algorithm ◽  
Robot Arm ◽  
Joint Movement ◽  
Content Type ◽  
Nurbs Curves ◽  
Acceleration And Deceleration

PurposeThe purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve the problem of sparse and incomplete trajectory points of the head and heel of the shoe sole when extracting robot motion trajectories using structured-light 3D cameras and to ensure the robot joints move smoothly, so as to achieve a good effect of automatic spraying of the shoe sole with a 7-degree-of-freedom (DOF) robot.Design/methodology/approachFirstly, the original shoe sole edge trajectory position points acquired by the 3D camera are fitted with NURBS curves. Then, the velocity constraint at the local maximum of the trajectory curvature is used as the reference for curve segmentation and S-shaped acceleration and deceleration planning. Immediately, real-time interpolation is performed in the time domain to obtain the position and orientation of each point of the robot motion trajectory. Finally, the inverse kinematics of the anthropomorphic motion of the 7-DOF robot arm is used to obtain the joint motion trajectory.FindingsThe simulation and experiment prove that the shoe sole spraying trajectory is complete, the spraying effect is good and the robot joint movement is smooth, which show that the algorithm is feasible.Originality/valueThis study is of good practical value for improving the quality of automated shoe sole spraying, and it has wide applicability for different shoe sole shapes.

Subpixel Accurate Calibration of Line-Scan Multi-Spectral Images Using a Polynomial or B-Spline based Registration Model

2017 ◽  
Vol 61 (3) ◽  
pp. 305031-3050311 ◽  
Author(s):  
Timo Eckhard ◽  
Jia Eckhard ◽  
Eva M. Valero ◽  
Javier Hernández-Andrés
Keyword(s):  
B Spline ◽  
Line Scan
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