A Semi-Infinte Optimization Approach to Optimal Spline Trajectory Planning of Mechanical Manipulators

2001 ◽  
pp. 271-297 ◽  
Author(s):  
Corrado Guarino Lo Bianco ◽  
Aurelio Piazzi
Keyword(s):  
Trajectory Planning ◽  
Optimization Approach ◽  
Mechanical Manipulators

An optimal trajectory planning method for path tracking of industrial robots

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 502-520 ◽  
Author(s):  
Xianxi Luo ◽  
Shuhui Li ◽  
Shubo Liu ◽  
Guoquan Liu
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Path ◽  
Path Tracking ◽  
Industrial Robots ◽  
Planning Method ◽  
Coordinate Frame ◽  
Optimization Approach ◽  
Cartesian Coordinate ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents an optimal trajectory planning method for industrial robots. The paper specially focuses on the applications of path tracking. The problem is to plan the trajectory with a specified geometric path, while allowing the position and orientation of the path to be arbitrarily selected within the specific ranges. The special contributions of the paper include (1) an optimal path tracking formulation focusing on the least time and energy consumption without violating the kinematic constraints, (2) a special mechanism to discretize a prescribed path integration for segment interpolation to fulfill the optimization requirements of a task with its constraints, (3) a novel genetic algorithm (GA) optimization approach that transforms a target path to be tracked as a curve with optimal translation and orientation with respect to the world Cartesian coordinate frame, (4) an integration of the interval analysis, piecewise planning and GA algorithm to overcome the challenges for solving the special trajectory planning and path tracking optimization problem. Simulation study shows that it is an insufficient condition to define a trajectory just based on the consideration that each point on the trajectory should be reachable. Simulation results also demonstrate that the optimal trajectory for a path tracking problem can be obtained effectively and efficiently using the proposed method. The proposed method has the properties of broad adaptability, high feasibility and capability to achieve global optimization.

Trajectory planning method based on transitional segment optimization of spray painting robot on complex-free surface

2019 ◽  
Vol 46 (1) ◽  
pp. 31-43 ◽  
Author(s):  
Liwen Guan ◽  
Lu Chen
Keyword(s):  
Free Surface ◽  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Trajectory Generation ◽  
Distribution Model ◽  
Optimization Approach ◽  
Spray Painting ◽  
Content Type ◽  
Normal Vectors ◽  
Paint Thickness

Purpose This paper aims to present a new trajectory optimization approach targeting spray painting applications that satisfies the paint thickness requirements of complex-free surfaces. Design/methodology/approach In this paper, a new trajectory generation approach is developed to optimize the transitional segments at the junction of adjacent patches for straight line, convex arc and concave arc combinations based on different angles between normal vectors of patches. In addition, the paint parameters including the paint gun velocity, spray height and the distance between adjacent trajectories have been determined in the generation approach. Then a thickness distribution model is established to simulate the effectiveness of trajectory planning. Findings The developed approach was applied to a complex-free surface of various curvatures, and the analysis results of the trajectory optimization show that adopting different transitional segment according to the angle between normal vectors can obtain the optimal trajectory. Based on the simulation and experimental validation results, the proposed approach is effective at improving paint thickness uniformity, and the obtained results are consistent with the simulation results, meaning that the simulation model can be used to predict the actual paint performance. Originality/value This paper discusses a new trajectory generation approach to decrease the thickness error values to satisfy spray paint requirements. According to the successfully performed simulation and experimental results, the approach is useful and practical in overcoming the challenge of improving the paint thickness quality on complex-free surface.

A Mathematical Modeling and Optimization Approach for Trajectory Planning of Robot Manipulators

2012 ◽  
Vol 157-158 ◽  
pp. 1388-1392
Author(s):  
Jin Chao Guo ◽  
Zheng Liu ◽  
Guang Zhao Cui
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Robot Manipulators ◽  
Pso Algorithm ◽  
Optimization Approach ◽  
Redundant Manipulators ◽  
Simulation Studies ◽  
Fast Computation ◽  
Optimal Trajectory Planning ◽  
Computation Speed

This paper presents a method for the problem of optimal trajectory planning of redundant robot manipulators in the presence of fixed obstacles. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. Cultural based PSO algorithm (CBPSO) is proposed to design a collision-free trajectory for planar redundant manipulators. CBPSO optimizes the trajectory and ensures that obstacle avoidance can be achieved. Simulations are carried out for different obstacles to prove the validity of the proposed algorithm. Different test data generated by GA, QPSO and CBPSO are provided with a tabular comparison. Simulation studies show CBPSO has potential online usage in engineering and distinct fast computation speed compared with the other two algorithms. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.

Optimal Trajectory Planning for Redundant Manipulators Based on Minimum Jerk

2008 ◽  
Author(s):  
Jingzhou Yang ◽  
Joo Kim ◽  
Esteban Pena Pitarch ◽  
Karim Abdel-Malek
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Initial Point ◽  
Planning Problem ◽  
Optimization Approach ◽  
Control Points ◽  
Unknown Parameters ◽  
Spline Curve ◽  
Minimum Jerk ◽  
Optimal Trajectory Planning

This paper presents an optimization-based method to solve the smooth trajectory planning problem where the user knows only the start and end points of the end-effector or the via point plus the start and end target points. For the start and end target points, we use an optimization approach to determine the manipulator configurations. Having obtained the desired minimum jerk path in the Cartesian space using the minimum jerk theory and having represented each joint motion by the third-degree B-spline curve with unknown parameters (i.e., control points), an optimization approach, rather than the pseudoinverse technique for inverse kinematics, is used to calculate the control points of each joint spline curve. The objective function includes several parts: (a) dynamic effort; (b) the inconsistency function, which is the joint rate change (first derivative) and predicted overall trend from the initial point to the end point; and (c) the nonsmoothness function of the trajectory, which is the second derivative of the joint trajectory. This method can be used for robotic manipulators with any number of degrees of freedom. Minimum jerk trajectories are desirable for their similarity to human joint movements, for their amenability to limit robot vibrations, and for their control (i.e., enhancement of control performance). Illustrative examples are presented to demonstrate the method.

Hybrid optimization approach for rapid endo-atmospheric ascent trajectory planning

2016 ◽  
Vol 88 (4) ◽  
pp. 473-479 ◽  
Author(s):  
Panxing Huang ◽  
Changzhu Wei ◽  
Yuanbei Gu ◽  
Naigang Cui
Keyword(s):  
Trajectory Planning ◽  
Hybrid Optimization ◽  
Optimization Approach
Sign in / Sign up

Export Citation Format

Share Document