Integrated time-optimal trajectory planning and control design for industrial robot manipulator

Pchelkin, Stepan; Shiriaev, Anton S.; Robertsson, Anders; Freidovich, Leonid B.

doi:10.1109/iros.2013.6696711

Cited by 9 publications

(10 citation statements)

References 10 publications

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“…Backtracking with DPI according to (16) - (17) or (18) - (20) guarantees that q ba (k ) or q bj (k ) are feasible. In particular, α = 0 results in a bac (k ) = q ba (k ) − 2q ba (k − 1) + q c (k − 2) = 0 or j bjc (k ) = q bj (k ) − 3q bj (k − 1) + 3q bj (k − 2) − q c (k − 3) = 0, since the individual axes are all backtracked similarly.…”

Section: B Discussionmentioning

confidence: 99%

“…By backtracking the acceleration with α = 0, q bai (k , l) according to (16) and thus s(k , l) and qc(k , l) are adopted from s(k 1, l 1) and qc(k 1, l 1) of the previous iteration step l 1. But there is no unique s ai (k 1, l) from the two q bai (k 1, l) according to (17), marked by x. The lesser s ai (k 1, l) is adopted as updated s(k 1, l) and results in the updated qc(k 1, l).…”

Section: B Discussionmentioning

confidence: 99%

“…Besides, without exact knowledge of the robot dynamics, it is not guaranteed that the desired path is really tracked. Therefore the compensation of deviations caused by the robot's dynamics, as in [7], [16], [17], [18], is left for future work.…”

Section: Introductionmentioning

confidence: 99%

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Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots

Lange

Albu‐Schäffer

2016

IEEE Robot. Autom. Lett.

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Standard industrial controllers of robot arms define constraints on the velocity, the acceleration, and the jerk and abort execution in case any of them is violated. In addition to satisfying these constraints, the presented method tries to generate a trajectory that is path-accurate, i.e., that exactly tracks the 6-dof shape of the desired path in axis space. Furthermore, the computed trajectory is as close as possible to the original robot program. This is reached by forward scaling and backtracking until a feasible trajectory is obtained. In contrast to previous work, blending of subsequent segments of the desired path is prevented by interpolation of the arc length instead of direct position interpolation. Because of its time-efficiency the algorithm can be applied in each sampling step, e.g. every 4 ms for a standard KUKA robot with RSI interface. Experimental results demonstrate the approach. This is the author's version of an article that has been published in this journal. Changes were made to this version by the publisher prior to publication.The final version of record is available at http://dx.

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Section: B Discussionmentioning

confidence: 99%

Section: B Discussionmentioning

confidence: 99%

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Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots

Lange

Albu‐Schäffer

2016

IEEE Robot. Autom. Lett.

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“…Ref. [36] combines trajectory generation and feedback control in order to reduce the deviations from the desired path. Mostly, the execution time is minimized (Time-Optimal Path Parameterization or TOPP).…”

Section: Previous Workmentioning

confidence: 99%

Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms

Lange

Albu-Schäffer

2016

Advanced Robotics

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Sensor-based trajectory generation of industrial robots can be seen as the task of, first, adaptation of a given robot program according to the actually sensed world, and second, its modification that complies with robot constraints regarding its velocity, acceleration, and jerk. The second task is investigated in this paper. Whenever the sensed trajectory violates a constraint, a transient trajectory is computed that, both, keeps the sensed path, and reaches the sensed trajectory as fast as possible while satisfying the constraints. This is done by an iteration of forward scaling and backtracking. In contrast to previous papers a new backtracking algorithm and an adaptation of the prediction length are presented that are favorable for high-speed trajectories. Arc Length Interpolation is used in order to improve the path accuracy. This is completed by provisions against cutting short corners or omitting of loops in the given path. The refined trajectory is computed within a single sampling step of 4 ms using a standard KUKA industrial robot.

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“…The real-time motion planning methods for robot manipulators has been thoroughly studied in existing literatures and divided into real-time Cartesian motion planning [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] and real-time joint trajectory planning [21][22][23][24][25][26][27][28][29][30][31][32][33]. Real-time Cartesian motion planning is usually chosen priority because of the intuitive operation/task space, simple description of the path constraints, direct expression of the end-effector (EE) pose, and easy achievement for obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Joint Angular-Acceleration Planning for Vision-Based Kinematically Redundant Manipulator in Dynamic Environment

Zhang

Jin

et al. 2020

IEEE Access

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This paper presents an angular acceleration planning for joint configuration spaces of visionbased kinematically redundant robot manipulators to achieve real-time tracking tasks in dynamic environment. In accordance with the proved proposition, the joint velocity formed by the inverse kinematics mapping of the defined pose error is regarded as the system error, and utilized to further deduce the planned joint angular acceleration and with kinematic redundancy for obstacle avoidance simultaneously. Highly-complex nonlinearities in the angular acceleration are equivalent to a system perturbation represented by a synthetic form, thereby simplifying the tedious calculations of the angular acceleration theoretically and converting the planning problem into a control problem. Hyperbolic tangent-based super twisting algorithm, as the control input of manipulator system, is designed to resist the synthetic perturbation. The collision-free movement of redundant manipulators for tracking tasks is thus achieved through the integration of the control input in real time. An errorbased S-function is proposed as the internal parameter of the planned joint acceleration to prevent the integral saturation. Lyapunov theoretical analysis proves the stability of the proposed super twisting algorithm. Simulation and contrast experiments in dynamic-obstacles environments indicate that the proposed joint angular acceleration planning for kinematically redundant manipulators owns feasibility, smoothness and practicability.

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Integrated time-optimal trajectory planning and control design for industrial robot manipulator

Cited by 9 publications

References 10 publications

Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots

Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots

Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms

Real-Time Joint Angular-Acceleration Planning for Vision-Based Kinematically Redundant Manipulator in Dynamic Environment

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