Trajectory planning and an efficient control scheme play a crucial role in improving the performance of pick-and-place robots. This paper introduces a novel method of trajectory planning with cycle time and path constraints. Assuming that a smooth trajectory is given, to be followed within a prescribed cycle time, the newly proposed method of trajectory planning removes the torque peaks of the actuators by a suitable scheduling of the velocity of the moving plate. Since pick-and-place robots are usually expected to meet the end poses in a certain time span, while disregarding the intermediate poses, the velocity can be tuned properly around the critical points of the trajectory by means of a time-scaling function. Moreover, the authors report the formulation of a linear quadratic regulator (LQR) controller with normalized variables to be used in conjunction with our trajectory-tracking control scheme for an in-house-developed Schönflies-motion generator. This parallel robot offers a functionally symmetric, single-loop architecture, with an isostatic kinematic chain, and virtually unlimited rotatability of its gripper. A comparison between two actuation systems developed by the authors is conducted via simulation results.
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June 2019
Research-Article
Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots
Peyman Karimi Eskandary,
Peyman Karimi Eskandary
1
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: pkarimie@cim.mcgill.ca
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: pkarimie@cim.mcgill.ca
1Corresponding author.
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Bruno Belzile,
Bruno Belzile
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: bruno@cim.mcgill.ca
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: bruno@cim.mcgill.ca
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Jorge Angeles
Jorge Angeles
Professor
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: angeles@cim.mcgill.ca
Department of Mechanical Engineering and Centre for Intelligent Machines,
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: angeles@cim.mcgill.ca
Search for other works by this author on:
Peyman Karimi Eskandary
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: pkarimie@cim.mcgill.ca
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: pkarimie@cim.mcgill.ca
Bruno Belzile
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: bruno@cim.mcgill.ca
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: bruno@cim.mcgill.ca
Jorge Angeles
Professor
Department of Mechanical Engineering and Centre for Intelligent Machines,
Montreal, QC, H3A 0G4,
e-mail: angeles@cim.mcgill.ca
Department of Mechanical Engineering and Centre for Intelligent Machines,
McGill University
,Montreal, QC, H3A 0G4,
Canada
e-mail: angeles@cim.mcgill.ca
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received June 24, 2018; final manuscript received January 11, 2019; published online April 8, 2019. Assoc. Editor: Philippe Wenger.
J. Mechanisms Robotics. Jun 2019, 11(3): 031001 (8 pages)
Published Online: April 8, 2019
Article history
Received:
June 24, 2018
Revision Received:
January 11, 2019
Accepted:
January 11, 2019
Citation
Karimi Eskandary, P., Belzile, B., and Angeles, J. (April 8, 2019). "Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots." ASME. J. Mechanisms Robotics. June 2019; 11(3): 031001. https://doi.org/10.1115/1.4042631
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