Optimal Trajectory Planning for Parallel Robots Considering Time-Jerk

Abstract

A method for optimization in trajectory planning of 3RUU robot manipulators is presented in this paper. At first, to get the optimal trajectory, position analyses has been done on the 3RUU robot, then an objective function which have two terms is minimized: first term relevant to the total execution time and another one relevant to the integral of the squared jerk (defined as the derivative of the acceleration toward time) along the trajectory and this Guarantees that the obtained trajectory is smooth. This technique let to calculate the kinematic constraints on the motion of the robot, defined as upper limits on the absolute values of velocity, acceleration and jerk. , the total execution time does not require to be set priori. The algorithm has been tested in simulation and in comparison with other important trajectory planning techniques it has been given good results.