Trajectory planning for a large scale weak rigid component docking assembling system

By kinematic and dynamic analysis on a large scale weak rigid component position and orientation alignment system, the displacement, velocity, acceleration and inertial force mapping relationships between the assembly-space and the joint-space of the actuating axes were established. To reduce the distortion of weak rigid component during the alignment process and improve alignment precision, the multi-point supporting assembly system was adopted. The actuating axes of the system were divided into the non-redundant actuating group and the redundant actuating group. The S curve trajectory planning for the non-redundant actuating axis were established in the joint space, and the synchronized tracking planning of the redundant actuating axes was presented according to the forward and inverse kinematical model. Numerical simulation showed that the planning was effective and safe.