Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories.<\/p>\r\n","references":"[1]\tJohn J. Craig. Introduction to Robotics: Mechanics and Control (3rd Edition). Addison-Wesley Pub. Co, 1986. \r\n[2]\tNiku, Saeed B. Introduction to robotics: analysis, control, applications. Prentice Hall, 2001. \r\n[3]\tPieper, and D. Lee. \"Kinematics of manipulators under computer control. \" Kinematics of Manipulators Under Computer Control (1968).\r\n[4]\tXu, Jianxin, W. Wang, and Y. Sun. \"Two optimization algorithms for solving robotics inverse kinematics with redundancy.\" Journal of Control Theory & Applications 8.2(2010):166-175.\r\n[5]\tPapadopoulos, E., I. Tortopidis, and K. Nanos. \"Smooth Planning for Free-floating Space Robots Using Polynomials.\" IEEE International Conference on Robotics and Automation IEEE, 2006:4272-4277.\r\n[6]\tLin, Chun Shin, P. R. Chang, and J. Y. S. Luh. \"Formulation and optimization of cubic polynomial joint trajectories for industrial robots.\"Automatic Control IEEE Transactions on 28.12(1983):1066-1074.\r\n[7]\tMachmudah, Affiani, et al. \"Polynomial joint angle arm robot motion planning in complex geometrical obstacles.\" Applied Soft Computing13.2(2013):1099-1109. \r\n[8]\tDan, Simonand Can Isik. \"Optimal trigonometric robot joint trajectories.\"Robotica 9.4(1991):379-386.\r\n[9]\tSimon, Dan, and C. Isik. Efficient Cartesian path approximation for robots using trigonometric splines. 1994.\r\n[10]\tAntonio Visioli. \"Trajectory planning of robot manipulators by using algebraic and trigonometric, splines.\" Robotica 18.6(2001):611-631.\r\n[11]\tZhang, Fuzhen. \"Quaternion and Matrices of Quaternions.\" Linear Algebra & Its Applications 251.2(1997):21-57.\r\n[12]\tXian, B, et al. \"Task-Space Tracking Control of Robot Manipulators via Quaternion Feedback.\" IEEE Transactions on Robotics & Automation20.1(2004):160-167.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 139, 2018"}