Time Optimal Path Planning of a 2-DOF High-Speed Parallel Robot
Tian Huang · Journal of Tianjin University Science and Technology · 2007
An effective method of time optimal path planning was proposed for the Diamond robot,a newly invented 2 degree of freedom(2-DOF) high-speed translational parallel robot for rapid pick-and-place operations.The trajectory error in operational space was proportional to the four order of the interpolation intervals in joint space when the piecewise cubic polynomials were employed as the interpolating rule.Minimum numbers of trajectory points were determined to obtain high computational efficiency according to the maximum interpolation intervals in each segment.Complex method was employed to produce the optimal time intervals associated with a set of appropriate constraints such as joint velocity,acceleration,jerk,and torque in joint space.The maximum and minimum cycle time for battery sorting is 0.21 s and 0.13 s,respectively,and the average efficiency is over 100 picks/min.This approach has been successfully applied to rechargeable battery sorting system which consists of 4 Diamond robots.