Acceleration-optimal and smooth trajectory planning of pan mechanism for cooking robot

作者：Chen Yuan^*

来源：ICIC Express Letters, Part B: Applications , 2011, 2(4): 981-986.

• B spline functions
• Computing techniques
• Control point
• Interpolation points
• Kinematic constraints
• Numerical studies
• Objective functions
• Optimal results
• Optimal solutions
• Optimal trajectory planning
• Optimal variables
• Pan mechanism
• Piece-wise
• Smooth trajectories
• Time interval
• Weighted Sum

This paper proposes a piecewise optimal trajectory planning method of pan mechanism for cooking robot. The optimal objective function is given by the weighted sum of the acceleration and jerk. Some computing techniques are proposed to determine the optimal solution. Both the time intervals between two interpolation points and the control points of B-spline function are taken as optimal variables, and kinematic constraints are redefined as functions of optimal variables. Numerical studies illustrate the feasible of the optimal trajectory planning method. A few of cuisine experiments are carried out to verify the effectiveness of those optimal results.

• 出版日期2011