A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

Chen, Yuan; Li, Bing

doi:10.5772/45707

Cited by 11 publications

(8 citation statements)

References 26 publications

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“…This was done to avoid the overshoot effect and system vibration and guarantee the stability of the robot motion. Chen and Li [13] employed acceleration and smooth jerk constraints to determine an optimal solution and transforming Kinematics constraints into the limitations on the optimal variables to reformulate the objective function in a matrix form; however, the model neglects the effect of robot dynamics. Also, Rubio, et al [14] investigated the impact of torque, power, jerks, and energy consumed constraints on the design of minimum-time collision-free trajectories for industrial robots, whose algorithm works in a discrete configuration space, and inverse dynamics scheme.…”

Section: Related Workmentioning

confidence: 99%

Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm

2019

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The problem of trajectory planning is relevant for the proper use of costly robotic systems to mitigate undesirable effects such as vibration and even wear on the mechanical structure of the system. The objective of this study is to design trajectories that are devoid of collision, velocity, acceleration, jerk and snap discontinuities so that the cycle time required to complete the process can be reduced. The trajectory design was constructed for all the six joints, using a 9 th order Bezier curve to accommodate the ten boundary conditions required to satisfy the continuity constraints for joints displacement, velocity, acceleration, jerk and snap. The scheme combines the multi-objective genetic algorithm and the multi-objective goal attainment algorithm to solve the problem of total tracking error reduction during arc welding. The use of a hybrid multi-objective algorithm shows an improved average spread, average distance, number of iteration and computational time. Also, it can be concluded from the constraints studied, that the optimal path in terms of the robots dynamic constraints can achieve the expected tracking ability in terms of the optimal joint angles, velocities, acceleration, jerk, snap and torque.

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Section: Related Workmentioning

confidence: 99%

Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm

2019

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“…In [Porawagama 2014] the authors introduce a new trajectory planning method for generating bounded and continuous jerk trajectories in joint space using polynomial segmented 5-3-5 splines. In [Chen 2011] the authors propose computational techniques to find the maximal acceleration and minimal jerk along the trajectory and in [Zhang 2017] a new robot trajectory planning method is introduced based on a genetic chaos optimization algorithm. An algorithm for jerk bounded Synchronized Trigonometric S-curve Trajectory (STST) and the 'forbidden-sphere' technique to avoid obstacles have also been proposed in [Perumaal 2013] and in [Komak 2018] authors propose smoothed collision-free trajectory around the obstacles.…”

Section: Introductionmentioning

confidence: 99%

Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

Mostýn¹,

Huczala²,

Moczulski³

et al. 2020

MM SJ

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This study examines selected components of the optimization function, used to evaluate the optimal kinematic structure of a robot for a given task. Automated generation of the kinematic structure is based on scalable drive modules of the joints and modules of the carrying arms with a check on the permissible torque of the drive and bending moment of the carrier element. An optimization algorithm is used to generate variations of kinematic structures, the base requirement of the fitness function is the ability to traverse a given trajectory with a defined orientation of the tool. The suitability of a given kinematic structure is evaluated further by a set of evaluation functions such as a check for spatial collisions, energy consumption, minimization of total weight, minimization of degrees of freedom for a given task and several other criteria. Two of these criteria -evaluation of the total weight of a robotic arm with drives in joints and evaluation of power consumption for a defined handling task are examined here.

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“…In particular, their end-effectors are required to follow a desired trajectory; meanwhile, none of their joints will collide with obstacles in any cases. Many [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] approaches have been proposed to solve the problems of trajectory planning and obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

Wang

Zhu

Wang

et al. 2018

International Journal of Advanced Robotic Systems

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In this article, we present an improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators. Specifically, we not only focused on the position for the manipulator end-effectors but also considered their posture in the course of trajectory planning and obstacle avoidance. We introduced boundaries for Cartesian space components to optimize the attractive field function. Moreover, the manipulator achieved a reasonable speed to move to the target pose, regardless of the difference between the initial pose and target pose. We proved the stability using Lyapunov stability theory by introducing velocity feedforward, when the manipulator moved along a continuous trajectory. Considering the shape of the manipulator joints and obstacles, we set up the collision detection model by projecting the obstacles to link coordinates. In this case, establishing the repulsive field between the nearest points on every joint and obstacles with the closest distance was sufficient for achieving obstacle avoidance for redundant manipulators. The simulation results based on a nine-degree-of-freedom hyper-redundant manipulator, which was designed and made in our laboratory, fully substantiated the efficacy and superiority of the proposed method.

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A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

Cited by 11 publications

References 26 publications

Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm

Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm

Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

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