Obstacle-aware trajectory planning for Delta robots

Robots often need to perceive obstacles in the environment when performing tasks. This paper designs an obstacle-aware pick-and-place operation (PPO) trajectory planning framework suitable for Delta robots. The framework uses quintic Pythagorean-Hodograph (PH) curves to ensure the safety and smoothness of the PPO. First, the kinematic characteristics of the Delta robot are briefly introduced. Then, based on the general pick-and-place operation path (PPOP), an obstacle-aware PPOP is designed using the properties of PH curves. A symmetric geometric mapping strategy is then combined to generate the complete path. Finally, a quartic polynomial velocity curve is used to configure the motion profile of the obstacle-aware trajectory. Simulations and experiments verify the effectiveness of the designed method, providing an efficient and reliable approach for Delta robot applications, enabling environmental adaptability in complex industrial scenarios.