Minimum-jerk trajectory planning of A 3-DOF translational parallel manipulator

Song Lu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

Since jerk-limiting is universally recognized to possess the advantages of reducing residual vibration and improving accuracy, this paper utilizes a minimum-jerk trajectory planning algorithm in trajectory planning of a three degree-of-freedom 3-Prismatic-Universal-Universal (3PUU) translational parallel manipulator. The trajectory execution time is set to fixed time duration. The sequence of joint positions are derived by a series of predefined via-points in Cartesian space through kinematic inversion. In order to generate a trajectory featuring great continuity and fine smoothness, a piecewise fifth-order polynomial is used to interpolate the joint position series and generate a smooth trajectory characterized by continuous velocity, acceleration, and jerk. The minimum jerk trajectory planning algorithm, which minimizes the maximum of the absolute value of joints' jerk, is actually a constrained minimax optimization problem. Subjecting to the specified limitations of kinematic constraints, this multi-variables constrained optimization problem is solved by the sequential quadratic programming (SQP) strategy. The simulated results demonstrate that this trajectory planning algorithm for the designed parallel manipulator is effective and feasible.
Original languageEnglish
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5C-2015
ISBN (Electronic)9780791857144
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/TerritoryUnited States
CityBoston
Period2/08/155/08/15

Keywords

  • Jerk
  • Parallel manipulator
  • Smoothness
  • Trajectory planning

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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