A minimum-jerk speed-planning algorithm for coordinated planning and control of automated assembly manufacturing

Julius S. Gyorfi*, Chi-Haur Wu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Scopus citations

Abstract

We previously proposed a general algorithm for coordinating the motions among multiple machines in a shared assembly environment based on a constant-speed motion model. In this paper, we extend this work to a minimum-jerk polynomial motion model and describe a new speed-planning algorithm to plan automated assembly machines' motions. Machines are planned sequentially, based on their priorities, by mapping the motions of higher-priority machines into forbidden regions in two-dimensional space-time graphs. Collision-free minimum-jerk motions are then planned between the forbidden regions in the graphs. The new speed-planning algorithm is evaluated on a dual-robot surface-mount technology assembly machine in which both robots share a common workspace.

Original languageEnglish (US)
Article number1707961
Pages (from-to)454-462
Number of pages9
JournalIEEE Transactions on Automation Science and Engineering
Volume3
Issue number4
DOIs
StatePublished - Oct 1 2006

Keywords

  • Assembly
  • Manipulator motion planning
  • Manufacturing automation
  • Motion control
  • Motion planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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