JerkBounded Trajectory Planning of Industrial Manipulators * This paper presented an advance online scheme for industrial robotic manipulators, with an objective of jerkbounded trajectory planning. Minimal timejerk trajectory is obtained through a proposed objective, combining time execution which affects the efficiency and squared jerk which reflects the smoothness during the motion. The algorithm gives the reciprocation between the need for an adequately smooth trajectory and quick execution time, to limit the vibration during highspeed movements is the conventional condition. The need for a plane trajectory and the need for a speedy execution can be tuned by changing the values of two constants that weigh the two terms. Along the whole trajectory of fifthorder, by using Bsplines interpolation. Narrate strategy is applied by using a 6DOF manipulator UR5 and for this strategy no need to recondition the equipment. Also, for any industrial manipulator, it is easily implemented. The conclusion of the suggested contrivance has been tested in simulation and realtime industrial manipulator, also compared with several other trajectory planning methods provides good results.

Dynamic Parameter Identification of a 6DOF Industrial Manipulator Considering Friction Model Dynamic parameters identification is essential for motion control of industrial robots. Precise identification is still an open issue due to friction, transmission backlash, and measurement noises of sensors. In this paper, based on a minimum set of parameters considering friction model, a unified identification approach is proposed. With this method, some essential data from robotxe2x80x99s joints motion can be sampled and calculated at the same time, thus all dynamic parameters are also acquired at one time. The 5th order Fourier series is used as the excitation trajectory. The optimal excitation trajectory is determined by minimizing the condition number, and the minimum set of parameters of the robot is obtained by combining with the least square method. Experiment results taken on a 6DOF industrial manipulator Staubli TX60 verified the correctness of the presented method.xe2x88x97