research-article

Research on Improved Hybrid Polynomial Interpolation Algorithm for Rail Inspection Robot

Authors:

Jinrong ZouAuthors Info & Claims

EITCE '21: Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering

Pages 1207 - 1213

https://doi.org/10.1145/3501409.3501622

Published: 31 December 2021 Publication History

Abstract

In order to ensure the track stability when the rail inspection robot automatically tracks the moving target and reduce the amplitude of angular velocity and angular acceleration, it is necessary to study the trajectory planning strategy. Aiming at the problem that the amplitude of angular velocity and angular acceleration of 3-5-3 hybrid polynomial interpolation algorithm is too high, a 3-3-5 hybrid polynomial interpolation trajectory planning method is proposed. Firstly, the D-H (Denavit-Hartenberg) model of the rail inspection robot is used to compute its kinematics equation. Secondly, according to the constraints of motion curve (angle, angular velocity, angular acceleration continuous), kinematics constraints are obtained and interpolation points are determined. Thirdly, the coefficient expression of the hybrid polynomial interpolation algorithm is solved by substituting kinematics constraints and interpolation points into the formula of the 3-3-5 hybrid polynomial interpolation algorithm. Finally, the 3-3-5 hybrid polynomial interpolation algorithm is simulated in MATLAB. The results show that the 3-3-5 hybrid polynomial interpolation algorithm can effectively reduce the amplitude of the angular velocity and angular acceleration, reduce the jerk of the motor, and improve the overall motion performance of the inspection robot.

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Cited By

Xu RZhao CLi JHu JHou X(2023)A Hybrid Improved-Whale-Optimization–Simulated-Annealing Algorithm for Trajectory Planning of Quadruped RobotsElectronics10.3390/electronics1207156412:7(1564)Online publication date: 26-Mar-2023
https://doi.org/10.3390/electronics12071564
Zhao JYang GShi HChen SChen CZhang C(2023)Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel ManipulatorIEEE Robotics and Automation Letters10.1109/LRA.2023.32918968:8(5039-5046)Online publication date: Aug-2023
https://doi.org/10.1109/LRA.2023.3291896

Index Terms

Research on Improved Hybrid Polynomial Interpolation Algorithm for Rail Inspection Robot
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic control
2. Computing methodologies
  1. Artificial intelligence
    1. Planning and scheduling
      1. Robotic planning
        Evolutionary robotics

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EITCE '21: Proceedings of the 2021 5th International Conference on Electronic Information Technology and Computer Engineering

October 2021

1723 pages

ISBN:9781450384322

DOI:10.1145/3501409

Copyright © 2021 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 31 December 2021

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EITCE 2021

EITCE 2021: 2021 5th International Conference on Electronic Information Technology and Computer Engineering

October 22 - 24, 2021

Xiamen, China

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EITCE '21 Paper Acceptance Rate 294 of 531 submissions, 55%;

Overall Acceptance Rate 508 of 972 submissions, 52%

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Cited By

Xu RZhao CLi JHu JHou X(2023)A Hybrid Improved-Whale-Optimization–Simulated-Annealing Algorithm for Trajectory Planning of Quadruped RobotsElectronics10.3390/electronics1207156412:7(1564)Online publication date: 26-Mar-2023
https://doi.org/10.3390/electronics12071564
Zhao JYang GShi HChen SChen CZhang C(2023)Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel ManipulatorIEEE Robotics and Automation Letters10.1109/LRA.2023.32918968:8(5039-5046)Online publication date: Aug-2023
https://doi.org/10.1109/LRA.2023.3291896

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