Minimum-time trajectory planning of mechanical manipulators under dynamic constraints

2002 ◽  
Vol 75 (13) ◽  
pp. 967-980 ◽  
Author(s):  
Corrado Guarino Lo Bianco ◽  
Aurelio Piazzi
Keyword(s):  
Trajectory Planning ◽  
Minimum Time ◽  
Dynamic Constraints ◽  
Mechanical Manipulators

Optimal trajectory planning and sliding mode control for robots using evolution strategy

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 423-428 ◽  
Author(s):  
Young-Kiu Choi ◽  
Jin-Hyun Park ◽  
Hyun-Sik Kim ◽  
Jung Hwan Kim
Keyword(s):  
Trajectory Planning ◽  
Sliding Mode ◽  
Evolution Strategy ◽  
Minimum Time ◽  
Dynamic Equations ◽  
Dynamic Constraints ◽  
Planning And Control ◽  
Explicit Dynamic ◽  
And Control ◽  
Kinematic Approach

Although robots have some kinematic and dynamic constraints such as the limits of the position, velocity, acceleration, jerk, and torque, they should move as fast as possible to increase the productivity. Researches on the minimum-time trajectory planning and control based on the dynamic constraints assume the availability of full dynamics of robots. However, the dynamic equation of robot may not often be exactly known. In this case, the kinematic approach for the minimum-time trajectory planning is more meaningful. We also have to construct a controller to track precisely the minimum-time trajectory. But, finding a proper controller is also difficult if we do not know the explicit dynamic equations of a robot.This paper describes an optimization of trajectory planning based on a kinematic approach using the evolution strategy (ES), as well as an optimization of a sliding mode tracking controller using ES for a robot without dynamic equations.

Collision–Free Trajectory Planning for Two Robot Arms

Robotica ◽  
1989 ◽  
Vol 7 (3) ◽  
pp. 205-212 ◽  
Author(s):  
Youshik Shin ◽  
Zeungnam Bien
Keyword(s):  
Trajectory Planning ◽  
Minimum Time ◽  
The Other ◽  
Dynamic Constraints ◽  
Robot Arms ◽  
Virtual Obstacle

SUMMARYAn approach for collision–free trajectory planning along designated paths of two robots in a common workspace is presented. Specifically, in order to describe potential collision between the links of two robots along the designated paths, explicit forms of virtual obstacle are adopted, according to which links of one robot are made to grow while the other robot is forced to shrink as a point on the path. Then, a notion of virtual coordination space is introduced to visualize all the collision–free coordinations of two trajectories. Assuming that a collision–free coordination curve between the two robots is given via a virtual coordination space, the minimum time collision–free trajectory pair for the two robots is sought considering dynamic constraints of torque and velocity bounds of actuators of the two robots.

A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

2014 ◽  
Vol 602-605 ◽  
pp. 1352-1357 ◽  
Author(s):  
Yong Ting Zhao ◽  
Bin Zheng ◽  
Hong Lin Ma
Keyword(s):  
Coordinate System ◽  
Trajectory Planning ◽  
Angular Displacement ◽  
Joint Space ◽  
New Method ◽  
Position Information ◽  
Physical Constraints ◽  
Dynamic Constraints ◽  
Quaternion Interpolation ◽  
And Performance

This paper proposes a new method of 6-DOF serial robot’s trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot’s trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning.

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

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