A fixed-distance planning algorithm for 6-DOF manipulators

Abstract

Purpose

The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements.

Design/methodology/approach

The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform.

Findings

A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot.

Originality/value

A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.

Citation

Gao, M., Chen, D., Yang, Y. and He, Z. (2015), "A fixed-distance planning algorithm for 6-DOF manipulators", Industrial Robot, Vol. 42 No. 6, pp. 586-599. https://doi.org/10.1108/IR-04-2015-0077