Time-optimal path generation for continuous and quasi-continuous path control of industrial robots

1989 ◽  
Vol 2 (1) ◽  
pp. 1-28 ◽  
Author(s):  
I. Troch
Keyword(s):  
Optimal Path ◽  
Industrial Robots ◽  
Path Generation ◽  
Continuous Path ◽  
Path Control ◽  
Time Optimal

Continuous Path Generation with Precise Control of Velocity and Orientation for Industrial Robots

CIRP Annals ◽  
1985 ◽  
Vol 34 (1) ◽  
pp. 511-514 ◽  
Author(s):  
Y. Mizugaki ◽  
H. Hiraoka ◽  
F. Kimura ◽  
T. Sata
Keyword(s):  
Industrial Robots ◽  
Path Generation ◽  
Continuous Path ◽  
Precise Control

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.

Time-suboptimal quasi-continuous path generation for industrial robots

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 297-302 ◽  
Author(s):  
I. Troch
Keyword(s):  
Configuration Space ◽  
Computation Time ◽  
Industrial Robots ◽  
Minimum Time ◽  
Moderate Increase ◽  
Path Generation ◽  
Continuous Path ◽  
Smooth Path ◽  
The Given

SUMMARYThe problem of constructing a smooth path with respect to time through N given points in configuration space is considered. Two variants of an algorithm suggested by Paul are presented and evaluated. It is shown that the algorithms suggested in this paper yield in general considerable improvements in two respects: Firstly, the deviation of the resulting path from the given points is reduced markedly and secondly, the overall time needed for the movement is reduced significantly and consequently, is closer to the true minimum-time. The price to be paid for these improvements is a moderate increase of computation time allowing still online use of the algorithm.

scholarly journals Successive dynamic programming and subsequent spline optimization for smooth time optimal robot path tracking

2015 ◽  
Vol 6 (2) ◽  
pp. 245-254 ◽  
Author(s):  
M. Oberherber ◽  
H. Gattringer ◽  
A. Müller
Keyword(s):  
Industrial Robot ◽  
Optimal Path ◽  
Industrial Applications ◽  
Path Tracking ◽  
Industrial Robots ◽  
Dynamic Constraints ◽  
Individual Segment ◽  
Numerical Effort ◽  
Time Optimal ◽  
Robot Path

Abstract. The time optimal path tracking for industrial robots regards the problem of generating trajectories that follow predefined end-effector (EE) paths in shortest time possible taking into account kinematic and dynamic constraints. The complicated tasks used in industrial applications lead to very long EE paths. At the same time smooth trajectories are mandatory in order to increase the service life. The consideration of jerk and torque rate restrictions, necessary to achieve smooth trajectories, causes enormous numerical effort, and increases computation times. This is in particular due to the high number of optimization variables required for long geometric paths. In this paper we propose an approach where the path is split into segments. For each individual segment a smooth time optimal trajectory is determined and represented by a spline. The overall trajectory is then found by assembling these splines to the solution for the whole path. Further we will show that by using splines, the jerks are automatically bounded so that the jerk constraints do not have to be imposed in the optimization, which reduces the computational complexity. We present experimental results for a six-axis industrial robot. The proposed approach provides smooth time optimal trajectories for arbitrary long geometric paths in an efficient way.

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