Velocity Constraints Based Online Trajectory Planning for High-Speed Parallel Robots

Trajectory planning method is important for stable and efficient sorting operations of robots. In this paper, a method for planning the equal-height picking-and-placing trajectory considering velocity constraint is proposed. The velocity constraint in start/end kinematics parameter makes the trajectory more adaptable to complex production line situations. An online trajectory optimization solution is proposed, which simplifies the solution of optimization problem and achieves the real-time nature of the method by BP neural networks. Simulation results on SR4 parallel robots show the effectiveness of the optimization method. The work done in this paper is of great help to the application of high-speed parallel robots.