Robot Manipulation Trajectory Planning in Complex Position
The study proposed and demonstrated a strategy smooth trajectory planning to follow the path constrained with time optimal trajectories for the manipulator. The problem in trajectory planning was to find a smooth trajectory function and optimal joint optimisation processes. Such trajectories were...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English English |
| Published: |
2002
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| Subjects: | |
| Online Access: | http://psasir.upm.edu.my/id/eprint/7982/1/ITMA_2002_2_.pdf |
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| Summary: | The study proposed and demonstrated a strategy smooth trajectory planning to follow
the path constrained with time optimal trajectories for the manipulator. The problem
in trajectory planning was to find a smooth trajectory function and optimal joint
optimisation processes. Such trajectories were obtained by considering the
kinematics properties for velocities, accelerations and jerks profiles in joint
coordinates for the end-effector to move the path constraints. The method was based
on the position profile composed of three polynomial segments such as 4-3-4, 3-5-3
and 3-cubic trajectory and five polynomial segments for 5-cubic trajectory. These
polynomial segments combination allowed the analytical solution to the minimum
time trajectory problem under consideration of velocity, acceleration and jerk by
using Mathematica software.
A number of simulations were performed to demonstrate the trajectory methods
using robot simulation PUMA 560 model. The robot simulation model was
developed using Mechanical Desktop software and the analytical analysis was done using visualNastran software. The simulations showed that the trajectory ability
methods for the investigation under varying time ratio conditions and the operations
such as Pick and Place Operation (PPO) and Continuous Path (CP).
For comparison on varying time ratio 4-3-4 gave a reasonably smooth for normal
trajectory condition and a ramp at middle segment to generate a minimum free-space
time compared to 3-5-3 and cubic trajectories. For PPO and CP, 4-3-4 trajectory
generated a lower values for accelerations and jerks compared to 3-5-3 and cubic
trajectories. This showed the 4-3-4 trajectory was the best type of joint interpolated
trajectory planning for any path planning operations. |
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