Title :
Weight lifting motion planning for a Puma 762 robot
Author :
Wang, Chia-Yu E. ; Timoszyk, Wojciech K. ; Bobrow, J.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Abstract :
In this paper we develop a point-to-point weight lifting motion planner for open-chained robots. The joint trajectories are defined by B-spline polynomials along with a time-scale factor. Physical limitations of a Puma 762 robot are incorporated into the formulation. The torque limits are formulated as a penalty function (soft constraints) added into the objective function while the position and velocity limits are formulated as linear inequalities (hard constraints). The problem is solved by a gradient-based optimization method in which the gradient is determined analytically. Not only does the optimal path extend the payload capability, but also reduces the joint torques by passing through singular configurations
Keywords :
gradient methods; industrial robots; motion control; optimisation; path planning; polynomials; robot dynamics; splines (mathematics); B-spline polynomials; Puma 762 robot; gradient method; inverse dynamics; linear inequality; open-chained robots; optimization; penalty function; time-scale factor; weight lifting motion planning; Aerospace engineering; Manipulator dynamics; Motion planning; Optimal control; Optimization methods; Payloads; Physics; Robots; Spline; Torque;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770023