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	A new method of 6-DOF serial robot's trajectory planning under multi-constraints
	Zhao, Yong-Ting; Zheng, Bin; Ma, Hong-Lin
	2014
摘要	This paper proposes a new method of 6-DOF serial robot's trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot's trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning. © (2014) Trans Tech Publications, Switzerland.
语种	英语
DOI	10.4028/www.scientific.net/AMM.602-605.1352
会议(录)名称	2nd International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2014
页码	1352-1357
收录类别	EI
会议地点	Chongqing, China
会议日期	May 30, 2014 - May 31, 2014