Title :
Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization
Author :
Lombai, Ferenc ; Szederkényi, Gábor
Author_Institution :
Fac. of Inf. Technol., Peter Pazmany Catholic Univ., Budapest
Abstract :
The trajectory tracking control of a 6-degree-of- freedom (DOF) rigid robot arm is described in this paper. The trajectories for the joint variables are generated in third-order spline form using general constrained nonlinear optimization, taking into consideration the joint position, velocity, acceleration, jerk and overall current consumption constraints during the movement. The trajectory tracking of the individual joints is solved using a discrete-time linear controller design. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The complete inverse kinematics of the arm is symbolically calculated in the Mathematica computing environment and implemented in C++. Simulations and measurements show the applicability of the proposed method.
Keywords :
collision avoidance; control system synthesis; discrete time systems; linear systems; manipulator kinematics; nonlinear programming; splines (mathematics); tracking; 6-degree-of-freedom robot arm; C++; Mathematica computing; axis theorem test; collision avoidance; discrete-time linear controller design; general constrained nonlinear optimization; inverse kinematics; oriented bounding boxes; third-order spline form; trajectory tracking control; Automatic control; Constraint optimization; Kinematics; Mathematical model; Object oriented modeling; Orbital robotics; Robotics and automation; Robots; Topology; Trajectory;
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
DOI :
10.1109/AMC.2008.4516144