Hostname: page-component-78c5997874-dh8gc Total loading time: 0 Render date: 2024-11-13T03:10:19.087Z Has data issue: false hasContentIssue false
  • English
  • Français

Planning of manipulator joint trajectories by an iterative method

Published online by Cambridge University Press:  09 March 2009

M. Yamamoto ,
H. Ozaki  and
A. Mohri
M. Yamamoto
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
H. Ozaki
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka, 812 (Japan)
Get access Rights & Permissions [Opens in a new window]

Summary

Manipulator joint trajectories are planned to make an arbitrary cost function as good as possible in consideration of physical constraints based on kinematics and dynamics of a manipulator system. An algorithm presented in this paper is an iteratively improving method using the local controllability of B spline. It can be also applied to the case that some points are specified and joint trajectories must pass through those points. This algorithm is applied to an example of trajectory planning of a manipulator with two links and two degrees of freedom.

Keywords

Joint trajectoriesManipulatorIterativePlanning
Type
Research Article
Information
Robotica , Volume 6 , Issue 2 , April 1988 , pp. 101 - 105
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Dubowsky, S. and Shiller, Z., “Optimal Dynamic Trajectories for Robotic Manipulators” Proc. of RoManSy, 5th CISM-IFToMM Symp. 133–143 (1984).Google Scholar
2.Shin, K.G. and McKay, N.D., “Minimum-Time Control of Robotic Manipulators with Geometric Path Constraints” IEEE Trans. on AC 30, No. 6, 531–541 (1985).Google Scholar
3.Ozaki, H. and Mohri, A., “Synthesis of minimum-line manipulator trajectories with geometric path constraints using time scaling” (ROBOTICA, No…, …198).Google Scholar
4.Ozaki, H., Yamamoto, M. and Mohri, A., “Planning of Joint Trajectories of Manipulators with Geometric Path Constraints” Trans. Soc. Instrum. Control Engrs. 23, No. 3 (to appear).Google Scholar
5.Geering, H.P., Guzzella, L., Hepner, S.A.R. and Pnder, C.H., “Time-Optimal Motions of Robots in Assembly Tasks” IEEE Trans. on AC 31, No. 6, 512–518 (1986).CrossRefGoogle Scholar
6.Rogers, D.F. and Adams, J.A., Mathematical Elements for Computer Graphics (McGraw-Hill, New York, 1976).Google Scholar