Optimal Motion Planning for Robotic Manipulators

2014 ◽  
Vol 902 ◽  
pp. 262-266 ◽  
Author(s):  
Feng Yun Lin
Keyword(s):  
Robot Manipulator ◽  
Optimal Path ◽  
Robot Dynamics ◽  
Phase Plane Analysis ◽  
Optimal Path Planning ◽  
Plane Analysis ◽  
Analysis Technique ◽  
Optimal Motion Planning ◽  
Time Optimal ◽  
Actuator Constraints

This paper presents a time-optimal path planning scheme for a robot manipulator to track a specified geometric Cartesian trajectory. It considers actuator constraints, the full robot dynamics. In order to make full use of the motors capacity, the bound torques are determined by considering the bound of the generated heat. The velocity limit and the bound acceleration (deceleration) are determined by combining with dynamics. We utilize the phase plane analysis technique to generate the minimum time trajectory.

Optimal Robot Motion Planning and Work-Cell Layout Design

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 31-40 ◽  
Author(s):  
Zvi Shiller
Keyword(s):  
Motion Planning ◽  
Optimal Path ◽  
Layout Design ◽  
Initial Guess ◽  
Robot Dynamics ◽  
Interactive Software ◽  
Work Cell ◽  
Time Optimal ◽  
Actuator Constraints ◽  
Gripping Force

This paper describes an interactive software system, developed at the Robotics and Automation Laboratory at UCLA to demonstrate innovative approaches to off-line robot programming and work-cell layout design. The software computes the time-optimal motions along specified paths, local optimal paths around an initial guess, and the global optimal path between given end-points. It considers the full robot dynamics, actuator constraints, on the payload acceleration or the gripping force, and any number of polygonal obstacles of any shape. The graphic displays provide a useful tool for interactive motion planning and workcell design.

Near Time Optimal Path Control of Kinematically Redundant Manipulators with Bounded Joint Velocities and Torques

2011 ◽  
Vol 110-116 ◽  
pp. 1547-1555
Author(s):  
Mohammad Hassan Ghasemi ◽  
Navvab Kashiri ◽  
Morteza Dardel ◽  
Mohammad Hadi Pashaei
Keyword(s):  
Linear Programming ◽  
Trajectory Planning ◽  
Optimal Path ◽  
Phase Plane Analysis ◽  
Programming Technique ◽  
Plane Analysis ◽  
Path Control ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Optimal Control Scheme

here, a time optimal control scheme for trajectory planning of kinematically manipulators subjects to actuator torque limits is proposed by using the phase plane analysis and linear programming technique. In addition, the limit on joint velocities is considered. In order to affect the constraint of joint velocities, this constraint is converted to constraint on joint acceleration and it is affected linear programming problem as an additional constraint. Also, an explicit algorithm for finding the switching points is presented. To this end, some simulations are given to demonstrate the efficiency of proposed trajectory planning algorithm.

scholarly journals Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation

Procedia CIRP ◽  
2021 ◽  
Vol 96 ◽  
pp. 324-329
Author(s):  
Frederik Wulle ◽  
Max Richter ◽  
Christoph Hinze ◽  
Alexander Verl
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

A numerical approach for time-optimal path-planning of kinematically redundant manipulators

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 401-410 ◽  
Author(s):  
Chia-Ju Wu
Keyword(s):  
Nonlinear Programming ◽  
Path Planning ◽  
Programming Problem ◽  
Optimal Path ◽  
Numerical Approach ◽  
Redundant Manipulators ◽  
Nonlinear Programming Problem ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Feasible Solutions

SUMMARYIn this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.

scholarly journals Dual-optimization trajectory planning based on parametric curves for a robot manipulator

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092004
Author(s):  
Yong-Lin Kuo ◽  
Chun-Chen Lin ◽  
Zheng-Ting Lin
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Robot Manipulator ◽  
Optimal Path ◽  
Inequality Constraints ◽  
Parametric Curves ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Motion Profile

This article presents a dual-optimization trajectory planning algorithm, which consists of the optimal path planning and the optimal motion profile planning for robot manipulators, where the path planning is based on parametric curves. In path planning, a virtual-knot interpolation is proposed for the paths required to pass through all control points, so the common curves, such as Bézier curves and B-splines, can be incorporated into it. Besides, an optimal B-spline is proposed to generate a smoother and shorter path, and this scheme is especially suitable for closed paths. In motion profile planning, a generalized formulation of time-optimal velocity profiles is proposed, which can be implemented to any types of motion profiles with equality and inequality constraints. Also, a multisegment cubic velocity profile is proposed by solving a multiobjective optimization problem. Furthermore, a case study of a dispensing robot is investigated through the proposed dual-optimization algorithm applied to numerical simulations and experimental work.

Time optimal path planning considering acceleration limits

2003 ◽  
Vol 45 (3-4) ◽  
pp. 199-210 ◽  
Author(s):  
Marko Lepetič ◽  
Gregor Klančar ◽  
Igor Škrjanc ◽  
Drago Matko ◽  
Boštjan Potočnik
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

New Approach for Mobile Robot Path Planning

2013 ◽  
Vol 467 ◽  
pp. 475-478
Author(s):  
Feng Yun Lin
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Dc Motor ◽  
Robot Path Planning ◽  
New Approach ◽  
Kinematic Constraints ◽  
Optimal Path Planning ◽  
Kinematic Limit ◽  
Time Optimal ◽  
Robot Path

This paper presents a method of time optimal path planning under kinematic, limit heat characteristics of DC motor and dynamic constrain for a 2-DOF wheeled. Firstly the shortest path is planned by using the geometric method under kinematic constraints. Then, in order to make full use of motors capacity we have the torque limits under limit heat characteristics of DC motor, finally the velocity limit and the boundary acceleration (deceleration) are determined to generate a time optimal path.

scholarly journals Time-optimal path planning in dynamic flows using level set equations: theory and schemes

2014 ◽  
Vol 64 (10) ◽  
pp. 1373-1397 ◽  
Author(s):  
Tapovan Lolla ◽  
Pierre F. J. Lermusiaux ◽  
Mattheus P. Ueckermann ◽  
Patrick J. Haley
Keyword(s):  
Path Planning ◽  
Level Set ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Dynamic Flows
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