Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance

2018 ◽  
Author(s):  
Reinhard Grassmann ◽  
Lars Johannsmeier ◽  
Sami Haddadin
Keyword(s):  
Trajectory Planning ◽  
Smooth Point ◽  
Joint Constraints ◽  
Point To Point

Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 539-559 ◽  
Author(s):  
Taha Chettibi
Keyword(s):  
Radial Basis Functions ◽  
Trajectory Planning ◽  
Robot Manipulators ◽  
Smooth Point ◽  
Basis Functions ◽  
Minimum Time ◽  
Planning Problem ◽  
Planning Techniques ◽  
Radial Basis ◽  
Point To Point

SUMMARYThe paper introduces the use of radial basis functions (RBFs) to generate smooth point-to-point joint trajectories for robot manipulators. First, Gaussian RBF interpolation is introduced taking into account boundary conditions. Then, the proposed approach is compared with classical planning techniques based on polynomial and trigonometric models. Also, the trajectory planning problem involving via-points is solved using the proposed RBF interpolation technique. The obtained trajectories are then compared with those synthesized using algebraic and trigonometric splines. Finally, the proposed method is tested for the six-joint PUMA 560 robot in two cases (minimum time and minimum time-jerk) and results are compared with those of other planning techniques. Numerical results demonstrate the advantage of the proposed technique, offering an effective solution to generate trajectories with short execution time and smooth profile.

Point-to-point trajectory planning for space robots based on jerk constraints

2021 ◽  
Vol 92 (9) ◽  
pp. 094501
Author(s):  
Pengfei Xiao ◽  
Hehua Ju ◽  
Qidong Li
Keyword(s):  
Trajectory Planning ◽  
Space Robots ◽  
Point To Point

Gain-optimization trajectory planning method for hyper-redundant manipulator with joint constraints

2019 ◽  
Vol 27 (5) ◽  
pp. 1075-1086
Author(s):  
王文瑞 WANG Wen-rui ◽  
刘克俭 LIU Ke-jian ◽  
顾金麟 GU Jin-lin ◽  
李 昂 LI Ang ◽  
储海荣 CHU Hai-rong ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Planning Method ◽  
Redundant Manipulator ◽  
Joint Constraints ◽  
Gain Optimization

The point to point trajectory planning based on the ant lion optimiser

2016 ◽  
Vol 10 (2) ◽  
pp. 155
Author(s):  
Jinchao Guo ◽  
Desheng Yan ◽  
Hong Cao ◽  
Zhengke Jiang
Keyword(s):  
Trajectory Planning ◽  
Ant Lion ◽  
Point To Point
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