Research on trajectory planning of robot automatic winding

Xianyu Meng; Xiquan Yu; Hongsheng Liu; Songrui Zhao; Shuo Wang

doi:10.1117/12.2687089

10 August 2023 Research on trajectory planning of robot automatic winding

Xianyu Meng, Xiquan Yu, Hongsheng Liu, Songrui Zhao, Shuo Wang

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 1275904 (2023) https://doi.org/10.1117/12.2687089
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

It is advantageous to use a robot in automatic winding, for solving the problems of low efficiency and low degree of automation of manual winding. In this paper, the trajectory planning algorithm of the robot is studied, and the trajectory planning of the robot is carried out by using the quintic polynomial interpolation. The simulation verification of Matlab is used to obtain the displacement, velocity, and acceleration curves of each joint of the robot, The observation results show that the curve fitted by quintic polynomial trajectory planning is smooth, and its speed and acceleration have no sudden changes, which ensures the stability of the moving process of the automatic winding robot.

Citation Download Citation

Xianyu Meng, Xiquan Yu, Hongsheng Liu, Songrui Zhao, and Shuo Wang "Research on trajectory planning of robot automatic winding", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 1275904 (10 August 2023); https://doi.org/10.1117/12.2687089

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