Research on Velocity Look-Ahead Algorithm of the 6-DOF Robot

DOI

10.2991/icseee-15.2016.151How to use a DOI?

Keywords

Cubic S-Curve; Adaptive Look-ahead Control; Industrial Robot; Continuous Jerk

Abstract

During the 6-DOF (6 degrees of freedom) industrial robot processing continuous short segments, frequent start-stop motions would cause vibration of joint and low playback efficiency. For the purpose of improving machining precision and playback efficiency, a cubic S-curve ACC/DEC (acceleration and deceleration) algorithm which derived with maximum acceleration was proposed. Besides, the adaptive velocity look-ahead algorithm is applied to machine continuous short segments. The velocity-time equation of cubic S-curve is third order derivable, which prevents step change in jerk, avoiding impact and vibration come from playback by industrial robot. The velocity look-ahead algorithm can be used to reduce the motion start-stop counts when the robot plays back and to improve processing stability and efficiency. Simulation result shows that this algorithm is high flexible and reduces the time of playing back significantly.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xiaowei Ni
AU  - Jianqun Liu
AU  - Weiqiang Gao
PY  - 2016/04
DA  - 2016/04
TI  - Research on Velocity Look-Ahead Algorithm of the 6-DOF Robot
BT  - Proceedings of the 2015 4th International Conference on Sustainable Energy and Environmental Engineering
PB  - Atlantis Press
SP  - 869
EP  - 874
SN  - 2352-5401
UR  - https://doi.org/10.2991/icseee-15.2016.151
DO  - 10.2991/icseee-15.2016.151
ID  - Ni2016/04
ER  -