文档介绍：Mechanism and Machine Theory 44 (2009) 1400–1419
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Planning of manipulator motion trajectory with higher-degree
polynomials use
M. Boryga, A. Grabos´ *
The Subdepartment of Machine Theory and Automation, The Department of Technological Basis, The Faculty of Production Engineering,
University of Life Sciences in Lublin, Dos´wiadczalna Street 50A, 20-280 Lublin, Poland
article info abstract
Article history: The paper presents a planning mode of trajectory motion for serial-link manipulators with
Received 22 July 2007 higher-degree polynomials application. The linear acceleration profiles of end-effector, for
Received in revised form 12 November 2008 each coordinate, were planned as the polynomials of degrees 9, 7 and 5. To build a polyno-
Accepted 15 November 2008
mial form, the properties of the roots multiplicity were utilized. This approach to polyno-
Available online 23 December 2008
mial form structure necessitates the determination of only one polynomial coefficient,
irrespective of its order. Time courses of displacements, velocities, accelerations and jerk
for the rectilinear path of end-effector motion for a three degrees of freedom (DOF) manip-
Keywords:
ulator were presented. An inverse kinematics problem was solved and on this basis the
Trajectory planning
Higher-degree polynomial runs of displacements, velocities, accelerations and angular jerks of each kinematic chain
Manipulator link were established.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
A problem of trajectory planning is an active field of the research so there is a vast literature treating this issue.
Gasparetto and Zanotto [5] developed a new method for smooth trajectory planning of robot manipulators. They
worked out an objective function containing a term proportional to the integral of the squared jerk (to ensure that the
trajectory is smooth)