In recent years, more and more industrial robots have been applied to modern manufacturing systems. They need to be fast, smooth and precise to ensure high productivity and quality in many fields. Therefore, they should be designed to move smoothly with high speed and precision under kinematical and geometrical constraints. In particular, smoothness in motion is essentially required in the delicate industrial setting such as spot-welding or precise assembly, and what is important is that the planned trajectories should be continuous within the capability of actuators.
Han Chol Jun, a researcher at the Institute of Robotics, has proposed a method of planning the expanded S-curve trajectory of robotic manipulators to minimize execution time as well as to achieve smoother trajectory generation in the deceleration stage for point-to-point motions.
The simulation results of 3 DOF and 6 DOF robotic manipulators show that the proposed approach effectively reduces the jerk and snap (the derivative of jerk) in the deceleration stage while decreasing the total execution time. Also, the analysis of a single DOF mass-spring-damper system indicates that the residual vibration could be reduced to 10% more than the benchmark techniques.
For more information, please refer to his paper “An asymmetric S-curve trajectory planning based on an improved jerk profile” in “Robotica” (SCI).