Hostname: page-component-78c5997874-8bhkd Total loading time: 0 Render date: 2024-11-14T06:27:27.334Z Has data issue: false hasContentIssue false
  • English
  • Français

Trajectory generation and control for automatic manipulation

Published online by Cambridge University Press:  09 March 2009

Vincent Hayward ,
Laeeque Daneshmend  and
Ajit Nilakantan
Vincent Hayward
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
Laeeque Daneshmend
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
Ajit Nilakantan
Affiliation:
McGill Research Center for Intelligent Machines, McGill University, Montreal Québec(Canada)H3A 2A7
Get access Rights & Permissions [Opens in a new window]

Summary

A method is described to convert information available at manipulator programming level into trajectories which are suitable for tracking by a servo control system. This process generates trajectories in real time which comply with general dynamic and kinematic constraints. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoints - the actuator output demands, in particular, must remain bounded. Our scheme takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, and various types of constraints, such as manipulators. It has been developed in the context of a multi-manipulator programming and control system called Kali and developed at McGill University.

Keywords

Automatic manipulationTrajectory controlKali system
Type
Article
Information
Robotica , Volume 12 , Issue 2 , March 1994 , pp. 115 - 125
Copyright
Copyright © Cambridge University Press 1994

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.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots” Int. J. Robotics Research 5, No. 1, 90–98 (spring, 1986).CrossRefGoogle Scholar
2.Bobrow, J., Dubowsky, S. and Gibson, J., “Time-Optimal Control of Robot Manipulators” Int. J. Robotics Research 4, No. 3, 18–34 (1985).CrossRefGoogle Scholar
3.Shin, Kang G. and McKay, Neil D., “Minimum-Time Trajectory Planning for Industrial Robots with General Torque Constraints” IEEE Conference on Robotics and Automation, San Framisco (1986) pp. 412–417.Google Scholar
4.Paul, R.P., Robot Manipulators: Mathematics Programming and Control (MIT Press, Cambridge, Mass., 1981).Google Scholar
5.Taylor, R.H., “Planning and Execution of Straight Line Manipulator Trajectories” IBMJ Res. Develop. 23, No. 4, 424–436 (1979).CrossRefGoogle Scholar
6.Andersson, R.L., “Aggressive Trajectory Generator for a Robot Ping-Pong Player” IEEE Conference on Robotics and Automation, Philadelphia, Pa., (April 24-29, 1988) pp. 188–193.Google Scholar
7.Hayward, V., Daneshmend, L.K. and Hayati, S., “An Overview of Kali: a System to Program and Control Cooperative Manipulators” Fourth International Conference on Advanced Robotics (ICAR) (Waldron, , Ed.) (Springer Verlag, Berlin 1989) pp. 547–558.Google Scholar
8.Hayward, V. and Paul, R.P., “Robot Manipulator Control under Unix: RCCL a Robot Control ‘C’ Library” Int. J. Robotic Research 5, No. 4, 94–111 (1986).CrossRefGoogle Scholar
9.Hayward, V., “Aspects of the Control of Complex Mechanical Systems with Time-varying Topologies” 8th World Congress on the Theory of Machines and Mechanisms, IFToMM, Prague (August, 1991) pp. 23–29.Google Scholar
10.Yoshikawa, T., “Analysis and design of articulated robot arms from the viewpoint of dynamic manipulability” Third International Symposium on Robotics Research (Faugeras, O. and Giralt, G., Editors) (MIT Press, Cambridge, Mass., 1986) pp. 273–280.Google Scholar
11.Khatib, O. and Burdick, J., “Motion and Force Control of Robot Manipulators” IEEE International Conference on Robotics and Automation (1986) pp. 1381–1386.Google Scholar
12.Hayati, S., “Hybrid Position/Force Control of Multi-Arm Cooperating Robots” IEEE International Conference on Robotics and Automation (1986) pp. 82–89.Google Scholar
13.Tomizuka, M. and Janczak, D., “Linear Quadratic Design of Decoupled Preview Controllers for Robotic Arms” Int. J. Robotics Research 4, No. 1, 67–79 (1985).Google Scholar
14.Faux, I.D. and Pratt, M.J., Computational Geometry for Design and Manufacture (Ellis Norwood Publishers, Chichester, UK, 1979).Google Scholar
15.Hollerbach, J.M., “Dynamic scaling of manipulator trajectories” ASME J. Dynamic Systems, Measurement, and Control 106, 102–106 (1984).CrossRefGoogle Scholar
16.Lloyd, J.E. and Hayward, V., “Kinematics of Common Industrial Robots” Robotics 4, No. 2, 169–192 (1988).Google Scholar
17.Spring, K.W., “Euler Parameters and the Use of Quaternions Algebra in the Manipulation of Finite Rotations: A Review” Mechanisms and Machine Theory 21, No. 5, 365–373 (1986).CrossRefGoogle Scholar
18.Shoemake, K., “Animating Rotation with Quaternion Curves” ACM Computer Graphics Conference 19, No. 3, 245–254 (1985).CrossRefGoogle Scholar
19.Klein, C.A. and Blaho, B.E., “Dexterity Measures for the Design and Control of kinematically Redundant Manipulators” Int. J. Robotic Research 6, No. 2, 72–83 (1987).CrossRefGoogle Scholar
20.Nilakantan, A. and Hayward, V., “The Synchronization of Multiple Manipulators in Kali” Robotics and Autonomous Systems 5, No. 3, 345–358 (1990).CrossRefGoogle Scholar