Optimal Trajectory Planning of Manipulators Subject to Motion Constraints
Date
2005
Authors
Shen, Yueshi
Hueper, Knut
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper presents a novel approach to plan an optimal joint trajectory for a manipulator robot performing a compliant motion task. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically calculate the joint trajectory's intermediate discretized points, instead of solving a corresponding nonlinear, implicit Euler-Lagrange equation. Secondly, we interpolate these points to get the final joint curve in a way such that the motion constraints will always be sustained throughout the movement. An example of motion planning for a 4-degree-of-freedom robot WAM will be given at the end of this paper.
Description
Keywords
Keywords: Constraint theory; Degrees of freedom (mechanics); Iterative methods; Motion control; Motion planning; Nonlinear systems; Discretized points; Motion constraints; Newton's iteration; Trajectory planning; Manipulators
Citation
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Source
Proceedings 2005 12th International Conference on Advanced Robotics
Type
Conference paper