The method of minimal neighborhood: a new and most effective iterative method for minimum cost trajectory planning in robot manipulators

Robotica ◽  
1995 ◽  
Vol 13 (3) ◽  
pp. 297-304 ◽  
Author(s):  
Ignacy Duleba
Keyword(s):  
Dynamic Programming ◽  
Iterative Method ◽  
Trajectory Planning ◽  
Iterative Procedure ◽  
Optimal Trajectory ◽  
Phase Plane ◽  
Robot Manipulators ◽  
Minimum Cost ◽  
Optimal Trajectory Planning

SummaryIn this paper a method of minimal neighborhood for cost optimal trajectory planning along prescribed paths is introduced. The method exploits the phase-plane approach. In the phase-plane, in an iterative procedure, subareas of search are built, called neighborings, which surround the current-best trajectory. In each iteration, in order to find the next-best trajectory, the dynamic programming (pruned to the subarea) is used. The method of minimal neighborhood makes the neighborings as small as possible and therefore speeds up computations maximally. The tests carried out on a model of the IRb-6 ASEA robot have shown that the method of minimal neighborhood is much faster than dynamic programming applied to the whole phase-plane, while preserving the quality of the resulting trajectory.

Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming

1987 ◽  
Vol 109 (2) ◽  
pp. 88-96 ◽  
Author(s):  
S. Singh ◽  
M. C. Leu
Keyword(s):  
Dynamic Programming ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Robotic Manipulators ◽  
Planning Algorithm ◽  
Manipulator Link ◽  
On Line ◽  
And Performance ◽  
Two Stages ◽  
Optimal Trajectory Planning

The problem of optimal control of robotic manipulators is dealt with in two stages: (1) optimal trajectory planning, which is performed off-line and results in the prescription of the position and velocity of each link as a function of time along a “given” path and (2) on-line trajectory tracking, during which the manipulator is guided along the planned trajectory using a feedback control algorithm. In order to obtain a general trajectory planning algorithm which could account for various constraints and performance indices, the technique of dynamic programming is adopted. It is shown that for a given path, this problem is reduced to a search over the velocity of one moving manipulator link. The design of the algorithm for optimal trajectory planning and the relevant computational issues are discussed. Simulations are performed to test the effectiveness of this method. The use of this algorithm in conjunction with an on-line controller is also presented.

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.

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