Optimal trajectory planning of manipulators subject to motion constraints

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 are deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically...

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Bibliographic Details
Published inICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005 pp. 9 - 16
Main Authors Yueshi Shen, Huper, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Australia Council
Constraint optimization
Kinematics
Manipulators
Orbital robotics
Path planning
Performance analysis
Robots
Space exploration
Trajectory
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ISBN0780391780
9780780391789
DOI10.1109/ICAR.2005.1507384

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Summary: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 are 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 are given at the end of this paper
ISBN:0780391780
9780780391789
DOI:10.1109/ICAR.2005.1507384