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Trajectory Planning
Path and trajectory planning is the way that a robot is moved from one
location to another in a controlled manner.
Universiti Kuala Lumpur Malaysia France Institute
• It is assumed that the robot’s actuators are strong enough to provide large
forces necessary to accelerate and decelerate the joints as needed.
•Divide the segments differently.
•The arm move at smaller segments as we speed up at the beginning.
•Go at a constant cruising rate
•Decelerate with smaller segments as approaching point B.
Universiti Kuala Lumpur Malaysia France Institute
Trajectory Planning
It is a planning of how to move an object from its initial location to the final
location in the work space with a consideration of time, i.e. it describes the
positions, orientations, linear velocities, angular velocities and accelerations of
the joint movements.
Polynomials Trajectories
If there is no obstacle in the work-space, the trajectory for a robot manipulator can
be easily planned using the specified initial position, initial velocity, final position
and final velocity in the joint space. We may use inverse kinematics and motion
kinematics to find the corresponding information of all joints in the joint space.
Generally, we can use third-order (cubic) polynomial function as the position
trajectory.
Trajectory Path Planning using Polynomial Equations (Note: This is in joint
space).
with the following two cubic segments: The first segment connects the initial
angular position θ(0) = 100 to the via point θ(1) = 50, and the second segment
connects the via point θ(1) = 50 to the final angular position θ(2) = 500. The
designed trajectory should have zero initial velocity and zero final velocity. Also,
at the via point θ(1) = 50, the trajectory should have continuous velocity and
acceleration.
First, we use the following two cubic polynomials as the candidates of the two
trajectory segments:
for
The constraints of the trajectory, from the question, are listed as follow:
a 0(1 ) = 1 0
a 1(1 ) = 0
a 0(1 ) + a 1(1 ) + a 2(1 ) + a 3(1 ) = 5
a 0( 2 ) = 5
a 1( 2 ) = a 1(1 ) + 2 a 2(1 ) + 3 a 3(1 )
2 a 2( 2 ) = 2 a 2(1 ) + 6 a 3(1 )
a 0( 2 ) + a 1( 2 ) + a 2( 2 ) + a 3( 2 ) = 5 0
a 1( 2 ) + 2 a 2( 2 ) + 3 a 3( 2 ) = 0
Solving the above 8 equations, we obtain the polynomial parameters as
follow:
a0(1) = 10
a1(1) = 0
Universiti Kuala Lumpur Malaysia France Institute
a2(1) = −45
a3(1) = 40
a0(2) = 5
a1(2) = 30
a2(2) = 75
a3(2) = −60
Therefore, the detailed expressions of the two cubic segments are:
And the velocity profiles and the acceleration profiles of the two trajectory
segments are also given below: