Smooth and time-optimal trajectory planning for industrial manipulators along specified paths

D. Constantinescu; E. A. Croft

Smooth and time-optimal trajectory planning for industrial manipulators along specified paths

D. Constantinescu, E. A. Croft

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

Abstract

This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the flexible tolerance method.

Original language	English
Title of host publication	American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Publisher	ASME International
Pages	469-470
Number of pages	2
Volume	67
ISBN (Print)	0791816346
Publication status	Published - 1 Dec 1999
Externally published	Yes
Event	Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, United States of America Duration: 14 Nov 1999 → 19 Nov 1999

Conference

Conference	Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
Country	United States of America
City	Nashville
Period	14/11/99 → 19/11/99

Access to Document

Link to publication in Scopus

Cite this

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title = "Smooth and time-optimal trajectory planning for industrial manipulators along specified paths",

abstract = "This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the flexible tolerance method.",

author = "D. Constantinescu and Croft, {E. A.}",

year = "1999",

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day = "1",

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booktitle = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",

publisher = "ASME International",

note = "Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) ; Conference date: 14-11-1999 Through 19-11-1999",

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Constantinescu, D & Croft, EA 1999, Smooth and time-optimal trajectory planning for industrial manipulators along specified paths. in American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. vol. 67, ASME International, pp. 469-470, Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition), Nashville, United States of America, 14/11/99.

TY - GEN

T1 - Smooth and time-optimal trajectory planning for industrial manipulators along specified paths

AU - Constantinescu, D.

AU - Croft, E. A.

PY - 1999/12/1

Y1 - 1999/12/1

N2 - This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the flexible tolerance method.

AB - This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the flexible tolerance method.

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M3 - Conference Paper

AN - SCOPUS:0033297694

SN - 0791816346

VL - 67

SP - 469

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BT - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

PB - ASME International

T2 - Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)

Y2 - 14 November 1999 through 19 November 1999

ER -