Shockless Composite Trajectory of the Robot

The problem of forming a smooth combined trajectory of the robot and determining the position of the connection points, providing kinematic and dynamic smoothness conditions, is considered. When pairing trajectories in the form of arcs of curves, there may be nonsmoothness at the junction and a jump in the radii of curvature. Planning a combined robot trajectory to search for conflict-free movement can be accomplished using the transition section insertion method.Specially designed smoothing curves are also known -majorant curve, clothoid, elastic line, lemniscate and velocity curve. All these methods used for planning and smoothing the trajectories of the robot are less accurate and approximate. Here, in order to provide kinematic and dynamic smoothness conditions, the insertion method of the transition section between the arcs is applied, the model of which is a second-order curve (conic). An original method has been developed foranalytically determining the type and shape of a conical transition section. A coulisse mechanism has been specially designed to determine the finish point, the coulisse of which slides along a given high-order curve.