DocumentCode :
1138845
Title :
Jerk-bounded manipulator trajectory planning: design for real-time applications
Author :
Macfarlane, Sonja ; Croft, Elizabeth A.
Author_Institution :
Gen. Hydrogen, Richmond, BC, Canada
Volume :
19
Issue :
1
fYear :
2003
fDate :
2/1/2003 12:00:00 AM
Firstpage :
42
Lastpage :
52
Abstract :
An online method for obtaining smooth, jerk-bounded trajectories has been developed and implemented. Jerk limitation is important in industrial robot applications, since it results in improved path tracking and reduced wear on the robot. The method described herein uses a concatenation of fifth-order polynomials to provide a smooth trajectory between two way points. The trajectory approximates a linear segment with parabolic blends trajectory. A sine wave template is used to calculate the end conditions (control points) for ramps from zero acceleration to nonzero acceleration. Joining these control points with quintic polynomials results in a controlled quintic trajectory that does not oscillate, and is near time optimal for the jerk and acceleration limits specified. The method requires only the computation of the quintic control points, up to a maximum of eight points per trajectory way point. This provides hard bounds for online motion algorithm computation time. A method for blending these straight-line trajectories over a series of way points is also discussed. Simulations and experimental results on an industrial robot are presented.
Keywords :
industrial manipulators; manipulator kinematics; path planning; polynomials; real-time systems; tracking; fifth-order polynomials; industrial manipulator; jerk bounds; kinematics; online path planning; quintic polynomials; real-time systems; sine wave; trajectory tracking; Acceleration; Actuators; Manipulators; Motion planning; Optimal control; Polynomials; Robot motion; Service robots; Torque; Trajectory;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/TRA.2002.807548
Filename :
1177163
Link To Document :
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