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Pythagorean-Hodograph curves-based trajectory planning for pick-and-place operation of Delta robot with prescribed pick and place heights

Published online by Cambridge University Press:  26 January 2023

Tingting Su Open the ORCID record for Tingting Su [Opens in a new window] ,
Xu Liang Open the ORCID record for Xu Liang [Opens in a new window] ,
Xiang Zeng  and
Shengda Liu Open the ORCID record for Shengda Liu [Opens in a new window]
Tingting Su
Affiliation:
Beijing Institute of Artificial Inteligence, Beijing University of Technology, Beijing, China
Xu Liang*
Affiliation:
Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing, China
Xiang Zeng
Affiliation:
Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing, China
Shengda Liu
Affiliation:
State Key Laboratory of Management and Control for Complex Systems, CInstitute of Automation, Chinese Academy of Sciences, Beijing, China
*
*Corresponding author. E-mail: liangxu2013@ia.ac.cn
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Abstract

In this paper, a Pythagorean-Hodograph (PH) curve-based pick-and-place operation trajectory planning method for Delta parallel robots is proposed, which realizes the flexible control of pick-and-place operations to meet the requirements of various practical scenarios. First, according to the geometric relationship of pick-and-place operation path, different pick-and-place operations are classified. Then trajectory planning is carried out for different situations, respectively, and in each case, the different polynomial motion laws adopted by the linear motion segment and the curved motion segment are solved. Trajectory optimization is performed with the motion period as optimization objective. The proposed method is easier to implement, and at the same time satisfies the safety, optimization, mobility, and stability of the robot; that is, the proposed method realizes obstacle avoidance, optimal time, flexible control of the robot trajectory, and stable motion. Simulations and experiments verify the effectiveness of the method proposed in this paper. The proposed method can not only realize the fast, accurate, and safe operation in intelligent manufacturing fields such as rapid classification, palletizing, grasping, warehousing, etc., but its research route can also provide a reference for trajectory planning of intelligent vehicles in logistics system.

Keywords

trajectory planningtrajectory generationDelta parallel robotpick-and-place operationPythagorean-Hodograph curves
Type
Research Article
Information
Robotica , Volume 41 , Issue 6 , June 2023 , pp. 1651 - 1672
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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