Global minimum-time trajectory planning of mechanical manipulators using interval analysis

1998 ◽  
Vol 71 (4) ◽  
pp. 631-652 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli
Keyword(s):  
Trajectory Planning ◽  
Interval Analysis ◽  
Global Minimum ◽  
Minimum Time ◽  
Mechanical Manipulators

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.

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.

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