Title :
Online computing of a robotic manipulator joint trajectory with velocity and acceleration constraints
Author :
Bazaz, Shafaat Ahmed ; Tondu, Bertrand
Author_Institution :
Dept. of Electr. Eng., INSAT, Toulouse, France
Abstract :
An online algorithm for computing a robot manipulator´s trajectory in joint space with velocity and acceleration constraints is proposed. Our theoretical discussion is based on optimizing the minimum possible time for velocity and acceleration constraints while using cubic splines. A method for calculating the wandering time is also presented. This value of the time gives prehand knowledge to the user about the time after which the wandering phenomenon starts. Simulation results of the proposed algorithm are also presented to show its efficiency
Keywords :
digital simulation; industrial manipulators; optimisation; path planning; splines (mathematics); acceleration constraints; cubic splines; joint space; robotic manipulator joint trajectory; velocity constraints; wandering time; Acceleration; Manipulator dynamics; Motion planning; Orbital robotics; Polynomials; Robot kinematics; Robotics and automation; Service robots; Spline; Trajectory;
Conference_Titel :
Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on
Conference_Location :
Marina del Rey, CA
Print_ISBN :
0-7803-3820-0
DOI :
10.1109/ISATP.1997.615375
