A Planning Method for Multi-Axis Point-to-Point Synchronization Based on Time Constraints

Abstract

In this paper, a third-order S-curve is used to model the motion issue. A closed method of solving is derived for the optimal point-to-point(P2P) time issue based on the model. Based on the P2P time-optimal solution, a closed multi-axis synchronization algorithm (MASA) method is proposed. This method considers the kinematic equation of the S-curve based on the inverse function of the multivariate function. Therefore, the inverse function of the execution time is derived via the kinematic equation of the P2P time optimization issue and solving a set of smaller bandwidth parameters is an important attempt in this paper. Otherwise, based on the MASA proposed in this paper, a synchronous computing framework suitable for the planning of robot space poses was designed. This framework can effectively solve problems with robot pose planning. The innovations of this article can be summarized as:(1)Based on the third-order S-curve, this paper deduced a complete method for solving the P2P time-optimal curve.(2) Based on the method for solving the time-optimal curve, this paper further derived three synchronization methods based on time constraints.(3) Based on the MASA proposed in this paper, a synchronous computing framework suitable for the planning of robot space poses was designed. The continuity and smoothness of the robot joint spatial motion can be guaranteed in the Descartes space. Few scholars have studied the closed solution method of multi-axis synchronization. The research in this paper promotes the theoretical research of motion control.

Keywords

• Motion control
• multi-axis synchronization
• S-curve
• time optimal