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Title: Trigonometric S-curve based trajectory planning algorithms for precise handling applications of robotic manipulator
Researcher: Saravana Perumaal S
Guide(s): Jawahar N
Keywords: Mechanical Engineering
Upload Date: 16-Apr-2014
University: Anna University
Completed Date: 01/12/2012
Abstract: Robotic Manipulator is an essential motion subsystem component for positioning and orientating object for the specified task and is now more than a machine. Automated trajectory planning of robotic manipulator is a significant feature towards building the applications for the factories of the future. Trajectory planning of industrial robots is influenced by variables such as motion descriptions, nature of application, robot anatomy, joint capabilities, presence of obstacle, optimality criteria and trajectory interpolation scheme. When the jerk limits are not considered by the trajectories, inaccurate positioning, unwanted residual vibrations and premature wear of actuator and robot structure occur, which ultimately result in reduced life span of manipulator. Minimum jerk trajectories are desirable for precise handling applications due to their similarity to human joint movements and for amenability to path tracking with minimum vibrations.Limiting the jerk yields reduction of stresses to the actuators and robot structure which ensure better tracking accuracy in trajectory. In view of the above, the often required operational environments for precise pick and place moves in industrial practice are considered in this research. In this focus, the objectives of this thesis are set as: To establish trajectory interpolation scheme for six Degrees Of Freedom (DOF) articulated robot using jerk bounded Synchronised Trigonometric S-curve Trajectory (STST). To develop the trajectory planning of algorithms suitable for precise handling applications those need to operate under three different scenarios of environments for precise pick and place moves.Most widely used interpolation scheme, the cubic spline has rectangular jerk profile.
Pagination: xxv, 186p.
Appears in Departments:Faculty of Mechanical Engineering

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03_abstract.pdf35.89 kBAdobe PDFView/Open
04_acknowledgement.pdf20.87 kBAdobe PDFView/Open
05_contents.pdf125.09 kBAdobe PDFView/Open
06_chapter1.pdf267.28 kBAdobe PDFView/Open
07_chapter2.pdf841.87 kBAdobe PDFView/Open
08_chapter3.pdf647.06 kBAdobe PDFView/Open
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10_chapter5.pdf2.87 MBAdobe PDFView/Open
11_chapter6.pdf1.31 MBAdobe PDFView/Open
12_chapter7.pdf42.82 kBAdobe PDFView/Open
13_chapter8.pdf64.76 kBAdobe PDFView/Open
14_references.pdf55.17 kBAdobe PDFView/Open
15_publications.pdf29.23 kBAdobe PDFView/Open
16_vitae.pdf17.87 kBAdobe PDFView/Open

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