Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints

A novel approach based on a type of simplified motion planning （SMP） is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom （DOFs）. The key issue is to find minimum-acceleration trajectory planning （MATP） to optimize the arm motion to reduce...

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Bibliographic Details
Published in自动化学报 Vol. 40; no. 7; pp. 1328 - 1338
Main Author WANG Ying-Shi SUN Lei ZHOU Lu LIU Jing-Tai
Format Journal Article
LanguageChinese
Published 2014
Subjects
充分必要条件
加加速度
机器人系统
约束规划
自由度
轨迹规划
运动约束
运动规划
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ISSN0254-4156
1874-1029

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Summary:A novel approach based on a type of simplified motion planning （SMP） is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom （DOFs）. The key issue is to find minimum-acceleration trajectory planning （MATP） to optimize the arm motion to reduce disturbance. Moreover,necessary and sufficient conditions for solution＇s existence subject to all the kinematic constraints of joint position, velocity, acceleration and jerk are devised. Besides, this new method can be activated online from the arbitrary initial state to the arbitrary target state so that it enables the robot to change the original path at any time. Finally, the approach is applied to a real humanoid robot arm with seven DOFs to show its efficiency.
Bibliography:11-2109/TP
Motion control;manipulation planning;minimum-acceleration control;implified motion planning （SMP）
A novel approach based on a type of simplified motion planning （SMP） is presented in this paper to generate online trajectory for manipulator systems with multiple degrees of freedom （DOFs）. The key issue is to find minimum-acceleration trajectory planning （MATP） to optimize the arm motion to reduce disturbance. Moreover,necessary and sufficient conditions for solution＇s existence subject to all the kinematic constraints of joint position, velocity, acceleration and jerk are devised. Besides, this new method can be activated online from the arbitrary initial state to the arbitrary target state so that it enables the robot to change the original path at any time. Finally, the approach is applied to a real humanoid robot arm with seven DOFs to show its efficiency.
ISSN:0254-4156
1874-1029