A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation

Qingxiao Zou; Weidong Guo; Fouaz Younès Hamimid

doi:10.1007/978-981-10-6553-8_78

A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation

Qingxiao Zou
, Weidong Guo^*
, Fouaz Younès Hamimid

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper proposed a novel trajectory planning algorithm for robot manipulator using Non-Uniform Rational B-Spline (NURBS) curve interpolation. Total trajectory planning process was divided into two stages: curve fitting stage (using NURBS) and trajectory interpolating stage. Velocity adaptive control methodology was introduced to adjust the steps of robot manipulator interpolation and further to reduce the chord error. Chord error and interpolation velocity of robot end-effector were monitored real-time and the consecutive interpolation point was pre-calculated to make a judgement on whether the chord error meet requirements, otherwise the interpolation velocity would be lowered to guarantee the accuracy was controlled under the error range. Finally, the author employed 4-DOF (Degree of Freedom) free floating space robot to verify the availability of the designed algorithm depending on several given demonstrating waypoints. The experimental result showed that the proposed NURBS trajectory planning algorithm was not only feasible for high-accuracy trajectory planning but also yielded a smooth trajectory with satisfactory kinematic properties for all robot joints.

Original language	English
Title of host publication	Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
Editors	Changle Xiang, Jianrong Tan, Feng Gao
Publisher	Springer Netherlands
Pages	1191-1208
Number of pages	18
ISBN (Print)	9789811065521
DOIs	https://doi.org/10.1007/978-981-10-6553-8_78
State	Published - 2018
Event	International Conference on Mechanical Design, ICMD 2017 - Beijing, China Duration: 13 Oct 2017 → 15 Oct 2017

Publication series

Name	Mechanisms and Machine Science
Volume	55
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	International Conference on Mechanical Design, ICMD 2017
Country/Territory	China
City	Beijing
Period	13/10/17 → 15/10/17

Keywords

Interpolation algorithm
NURBS curve
Robot trajectory planning
Velocity adaptive control

Access to Document

10.1007/978-981-10-6553-8_78

Cite this

Zou, Q., Guo, W., & Hamimid, F. Y. (2018). A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. In C. Xiang, J. Tan, & F. Gao (Eds.), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017 (pp. 1191-1208). (Mechanisms and Machine Science; Vol. 55). Springer Netherlands. https://doi.org/10.1007/978-981-10-6553-8_78

Zou, Qingxiao ; Guo, Weidong ; Hamimid, Fouaz Younès. / A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. editor / Changle Xiang ; Jianrong Tan ; Feng Gao. Springer Netherlands, 2018. pp. 1191-1208 (Mechanisms and Machine Science).

@inproceedings{c1ab2b8d14f44fa091762b3f5a9f5ab8,

title = "A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation",

abstract = "This paper proposed a novel trajectory planning algorithm for robot manipulator using Non-Uniform Rational B-Spline (NURBS) curve interpolation. Total trajectory planning process was divided into two stages: curve fitting stage (using NURBS) and trajectory interpolating stage. Velocity adaptive control methodology was introduced to adjust the steps of robot manipulator interpolation and further to reduce the chord error. Chord error and interpolation velocity of robot end-effector were monitored real-time and the consecutive interpolation point was pre-calculated to make a judgement on whether the chord error meet requirements, otherwise the interpolation velocity would be lowered to guarantee the accuracy was controlled under the error range. Finally, the author employed 4-DOF (Degree of Freedom) free floating space robot to verify the availability of the designed algorithm depending on several given demonstrating waypoints. The experimental result showed that the proposed NURBS trajectory planning algorithm was not only feasible for high-accuracy trajectory planning but also yielded a smooth trajectory with satisfactory kinematic properties for all robot joints.",

keywords = "Interpolation algorithm, NURBS curve, Robot trajectory planning, Velocity adaptive control",

author = "Qingxiao Zou and Weidong Guo and Hamimid, \{Fouaz Youn{\`e}s\}",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2018.; International Conference on Mechanical Design, ICMD 2017 ; Conference date: 13-10-2017 Through 15-10-2017",

year = "2018",

doi = "10.1007/978-981-10-6553-8\_78",

language = "英语",

isbn = "9789811065521",

series = "Mechanisms and Machine Science",

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Zou, Q, Guo, W & Hamimid, FY 2018, A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. in C Xiang, J Tan & F Gao (eds), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Mechanisms and Machine Science, vol. 55, Springer Netherlands, pp. 1191-1208, International Conference on Mechanical Design, ICMD 2017, Beijing, China, 13/10/17. https://doi.org/10.1007/978-981-10-6553-8_78

A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. / Zou, Qingxiao; Guo, Weidong; Hamimid, Fouaz Younès.
Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. ed. / Changle Xiang; Jianrong Tan; Feng Gao. Springer Netherlands, 2018. p. 1191-1208 (Mechanisms and Machine Science; Vol. 55).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation

AU - Zou, Qingxiao

AU - Guo, Weidong

AU - Hamimid, Fouaz Younès

N1 - Publisher Copyright: © Springer Nature Singapore Pte Ltd. 2018.

PY - 2018

Y1 - 2018

N2 - This paper proposed a novel trajectory planning algorithm for robot manipulator using Non-Uniform Rational B-Spline (NURBS) curve interpolation. Total trajectory planning process was divided into two stages: curve fitting stage (using NURBS) and trajectory interpolating stage. Velocity adaptive control methodology was introduced to adjust the steps of robot manipulator interpolation and further to reduce the chord error. Chord error and interpolation velocity of robot end-effector were monitored real-time and the consecutive interpolation point was pre-calculated to make a judgement on whether the chord error meet requirements, otherwise the interpolation velocity would be lowered to guarantee the accuracy was controlled under the error range. Finally, the author employed 4-DOF (Degree of Freedom) free floating space robot to verify the availability of the designed algorithm depending on several given demonstrating waypoints. The experimental result showed that the proposed NURBS trajectory planning algorithm was not only feasible for high-accuracy trajectory planning but also yielded a smooth trajectory with satisfactory kinematic properties for all robot joints.

AB - This paper proposed a novel trajectory planning algorithm for robot manipulator using Non-Uniform Rational B-Spline (NURBS) curve interpolation. Total trajectory planning process was divided into two stages: curve fitting stage (using NURBS) and trajectory interpolating stage. Velocity adaptive control methodology was introduced to adjust the steps of robot manipulator interpolation and further to reduce the chord error. Chord error and interpolation velocity of robot end-effector were monitored real-time and the consecutive interpolation point was pre-calculated to make a judgement on whether the chord error meet requirements, otherwise the interpolation velocity would be lowered to guarantee the accuracy was controlled under the error range. Finally, the author employed 4-DOF (Degree of Freedom) free floating space robot to verify the availability of the designed algorithm depending on several given demonstrating waypoints. The experimental result showed that the proposed NURBS trajectory planning algorithm was not only feasible for high-accuracy trajectory planning but also yielded a smooth trajectory with satisfactory kinematic properties for all robot joints.

KW - Interpolation algorithm

KW - NURBS curve

KW - Robot trajectory planning

KW - Velocity adaptive control

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BT - Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017

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A2 - Gao, Feng

PB - Springer Netherlands

T2 - International Conference on Mechanical Design, ICMD 2017

Y2 - 13 October 2017 through 15 October 2017

ER -

Zou Q, Guo W, Hamimid FY. A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. In Xiang C, Tan J, Gao F, editors, Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Springer Netherlands. 2018. p. 1191-1208. (Mechanisms and Machine Science). doi: 10.1007/978-981-10-6553-8_78

A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation

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