Efficient acceleration for fast motion of industrial robots

To make fast motion with minimizing vibration in industrial robots, it is necessary to generate smooth trajectories efficiently. Some trajectory planning techniques with using software or hardware methods have been proposed to generate smooth trajectories efficiently. Some these techniques is that the time required to generate velocity profiles is too long or the order of velocity profiles is fixed. In this paper, an efficient trajectory generation technique to generate smooth velocity profiles for fast motion is proposed. The velocity after the acceleration is determined for a given movement and then a smooth velocity profile is generated by using some pre-determined coefficients. The comparison of the proposed technique and the existing techniques will show that the proposed techniques is more efficient and is able to reduce the moving time of robots.