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

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
编辑	Changle Xiang, Jianrong Tan, Feng Gao
出版商	Springer Netherlands
页	1191-1208
页数	18
ISBN（印刷版）	9789811065521
DOI	https://doi.org/10.1007/978-981-10-6553-8_78
出版状态	已出版 - 2018
活动	International Conference on Mechanical Design, ICMD 2017 - Beijing, 中国期限: 13 10月 2017 → 15 10月 2017

出版系列

姓名	Mechanisms and Machine Science
卷	55
ISSN（印刷版）	2211-0984
ISSN（电子版）	2211-0992

会议

会议	International Conference on Mechanical Design, ICMD 2017
国家/地区	中国
市	Beijing
时期	13/10/17 → 15/10/17

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

Zou, Q., Guo, W., & Hamimid, F. Y. (2018). A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. 在 C. Xiang, J. Tan, & F. Gao (编辑), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017 (页码 1191-1208). (Mechanisms and Machine Science; 卷 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. 编辑 / Changle Xiang ; Jianrong Tan ; Feng Gao. Springer Netherlands, 2018. 页码 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",

publisher = "Springer Netherlands",

pages = "1191--1208",

editor = "Changle Xiang and Jianrong Tan and Feng Gao",

booktitle = "Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017",

address = "荷兰",

}

Zou, Q, Guo, W & Hamimid, FY 2018, A Novel Robot Trajectory Planning Algorithm Based on NURBS Velocity Adaptive Interpolation. 在 C Xiang, J Tan & F Gao (编辑), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Mechanisms and Machine Science, 卷 55, Springer Netherlands, 页码 1191-1208, International Conference on Mechanical Design, ICMD 2017, Beijing, 中国, 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. 编辑 / Changle Xiang; Jianrong Tan; Feng Gao. Springer Netherlands, 2018. 页码 1191-1208 (Mechanisms and Machine Science; 卷 55).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

UR - https://www.scopus.com/pages/publications/85035792598

U2 - 10.1007/978-981-10-6553-8_78

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

M3 - 会议稿件

AN - SCOPUS:85035792598

SN - 9789811065521

T3 - Mechanisms and Machine Science

SP - 1191

EP - 1208

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

A2 - Xiang, Changle

A2 - Tan, Jianrong

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. 在 Xiang C, Tan J, Gao F, 编辑, Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Springer Netherlands. 2018. 页码 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

摘要

出版系列

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