Trajectory planning using optimum solution of variational problem

Author

Sakamoto, Kiyoshi ; Kawamura, Atsuo

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

1993

fDate

19-21 April 1993

Firstpage

666

Lastpage

671

Abstract

A new method of trajectory planning for robot manipulators is proposed, in which the reference in joint space is expressed as a B-spline curve, and is optimized by the variational method. This has an advantage in less required memory for the reference path. The performance index includes the trajectory position error and the acceleration term of each joint with weight coefficients. The characteristics of optimized trajectory is determined by weight coefficients. A new design method is proposed to set up the weight coefficients. Through calculations and experiments, it is verified that the proposed design method is both useful and effective.<>

Keywords

control system synthesis; manipulators; optimal control; position control; splines (mathematics); variational techniques; B-spline curve; acceleration; control system synthesis; design; optimal control; performance index; position control; position error; robot manipulators; trajectory planning; variational problem; weight coefficients; Acceleration; Design methodology; End effectors; Manipulators; Optimization methods; Orbital robotics; Performance analysis; Robot programming; Spline; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Conversion Conference, 1993. Yokohama 1993., Conference Record of the

Conference_Location

Yokohama, Japan

Print_ISBN

0-7803-0471-3

Type

conf

DOI

10.1109/PCCON.1993.264177

Filename

264177