A Sensitivity Approach to Optimal Spline Robot Trajectories

Luca, A. De; Lanari, Leonardo; Oriolo, Gianpaolo; Nicolò, F.

doi:10.1016/s1474-6670(17)54659-5

Cited by 12 publications

(15 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…We therefore need to look for a numerical approximation of this solution. There exist various classical techniques for finding such an approximation, and here we briefly describe that proposed by Luca et al (1991) which appears to be well suited to our problem. Since the time law 94t5 must be at least of class C 2 , we use cubic splines defined as shown in Figure 6, with 94t i 5 2 i for 1 6 i 6 n, t 1 2 0 and 1 2 0, t n 2 t f and n 2 1.…”

Section: Numerical Approximation Of the Solution In The General Casementioning

confidence: 99%

Optimization of Complex Robot Applications under Real Physical Limitations

Guilbert

Joly

Wieber³

2008

The International Journal of Robotics Research

View full text Add to dashboard Cite

This paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated into complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to model. The structure of the optimization problem allows us to decompose the optimization into two levels, the first being based on models and results of the theory of the calculus of variations, the second being based on measurements and derivative free algorithms. This decomposition allows us to optimize the velocity profiles efficiently without any advance knowledge of the interactions between the robot and its environment. We propose here two numerical algorithms for these two levels of the decomposition which show good convergence properties. The resulting optimal velocity profiles are 5-10% faster than classical profiles, and have been executed successfully on a real Stäubli Rx90 manipulator robot.

show abstract

Section: Numerical Approximation Of the Solution In The General Casementioning

confidence: 99%

Optimization of Complex Robot Applications under Real Physical Limitations

Guilbert

Joly

Wieber³

2008

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…Sensitivity analysis is not a commonly used instrument for performance analysis of robotic systems. Some examples include sensitivity analysis focussing on improving trajectories (de Luca, Lanari, & Oriolo, 1991), comparing robot designs (Tannous, Caro, & Goldsztejn, 2014), or positioning errors of the end-effector (Zhang, Ba, & Mu, 2012). These studies mostly concentrated on the influence of robot parameters.…”

Section: Introductionmentioning

confidence: 99%

Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment

Bac

Roorda

Reshef

et al. 2016

Biosystems Engineering

View full text Add to dashboard Cite

“…For example, minimumtime trajectories, which satisfy the aforementioned constraints, were planned in [1] by means of a polyhedron search strategy. A similar problem was studied in [2] by also considering constraints on the actuator torques. The solution was found by adopting a sensitivity approach.…”

Section: Introductionmentioning

confidence: 99%

A Discrete-Time Filter for the Generation of Signals With Asymmetric and Variable Bounds on Velocity, Acceleration, and Jerk

Bianco

Ghilardelli

2014

IEEE Trans. Ind. Electron.

View full text Add to dashboard Cite

Reference signals, which are used to drive feedback control loops, are often evaluated on the fly on the basis of the operating conditions. As a consequence, they can be too demanding for the actuation system whose outputs could saturate, thus worsening the tracking performances of the feedback loop. Improved answers can be obtained by smoothing rough references by means of proper filters that are also able to impose bounds on the signal dynamics. This paper proposes a filtering system whose output mimics at best any given input signal compatibly with some smoothness requirements. In particular, generated signals are continuous up to the second time derivative, and their first three time derivatives are constrained between assigned bounds that can be asymmetric and that can also be changed on the fly. The filter, which is internally characterized by minimum time transients, is able to follow, with zero tracking error, piecewise-continuous signals given by combinations of steps, ramps, and parabolas.

show abstract

A Sensitivity Approach to Optimal Spline Robot Trajectories

Cited by 12 publications

References 14 publications

Optimization of Complex Robot Applications under Real Physical Limitations

Optimization of Complex Robot Applications under Real Physical Limitations

Analysis of a motion planning problem for sweet-pepper harvesting in a dense obstacle environment

A Discrete-Time Filter for the Generation of Signals With Asymmetric and Variable Bounds on Velocity, Acceleration, and Jerk

Contact Info

Product

Resources

About