An Approach for Elliptical Trajectory Planning with Vertical Straight Line Segments of Pick-and-Place Robot Operation with Height Clearance

This study deals with elliptical trajectory planning with vertical straight-line segments for pick-and-place robot operation with height clearance. It is significant for trajectory planning for the pick-and-place operation with the different height clearance between the picking point and placing point, or with the height clearance for picking and placing the product in the box. In this study, we propose an optimal asymmetric bisected elliptical path with two vertical straight line segments and a method to generate a motion profile suited to geometry of the optimal asymmetric bisected elliptical path based on the radius of curvature. The simulation result demonstrates that the proposed trajectory planning approach enables to reduce workspace and cycle period of the pick-and-place operation by minimizing the length and height of the path and guarantees continuity and smoothness of velocity, acceleration and jerk, and results in smoothness of working action of robot actuators.