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

D. Constantinescu, E. A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

2 Citations (Scopus)

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 languageEnglish
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherASME International
Pages469-470
Number of pages2
Volume67
ISBN (Print)0791816346
Publication statusPublished - 1 Dec 1999
Externally publishedYes
EventDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, United States of America
Duration: 14 Nov 199919 Nov 1999

Conference

ConferenceDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
CountryUnited States of America
CityNashville
Period14/11/9919/11/99

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