Title :
Optimal robot motions for repetitive tasks
Author_Institution :
TRW Space & Technol. Group, San Bernardino, CA, USA
Abstract :
A new method for the planning of robot trajectories is presented. The method assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived is the best. The performance criterion used is the integral (over one period) of the square of a combination of the joint velocity and the joint jerk
Keywords :
interpolation; kinematics; optimisation; path planning; position control; robots; Cartesian knots; Schoenberg splines; globally optimal periodic interpolation; inverse kinematics; joint jerk; joint velocity; joint-space knots; motion control; performance criterion; repetitive tasks; robot; trajectory planning; Couplings; Electrical equipment industry; Interpolation; Kinematics; Motion planning; Orbital robotics; Polynomials; Robot motion; Service robots; Space technology; Trajectory;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371035
