Path-constrained optimal trajectory planning for robot manipulators with obstacle avoidance

Wen, Yalun; Pagilla, Prabhakar R.

doi:10.1109/iros51168.2021.9636674

Cited by 7 publications

(3 citation statements)

References 22 publications

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“…Thus, in Fig. 3, this behavior is shown with different degrees of precision where the viscous friction model (25), Coulomb and Viscous friction model (26), and the Stribeck friction model ( 27) are represented:…”

Section: E Manipulator Dynamicsmentioning

confidence: 99%

“…, Additionally, the behavior of the friction constants must be taken into account, which can take different values according to the direction of rotation of each joint, as stated in expression (25) 0 : 0, 0 : 0, : 0, :…”

Section: E Manipulator Dynamicsmentioning

confidence: 99%

“…In the same effort, the authors in [24] seek this goal, together with a reduction in the execution time of the trajectory using an improved GA algorithm in a 6 DoF manipulator. In the same way, in [25], employing an interior point solver and Legendre Polynomials, a solution for a manipulator with 6 degrees of freedom is developed. In optimizing execution time and smoothness, Zhang, Zhang, and Zou in [26] propose a novel algorithm to eliminate residual vibration and achieve smooth motion in a 6 DoF robot.…”

Section: Introductionmentioning

confidence: 99%

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Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm

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et al. 2022

ELEKTRON ELEKTROTECH

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This work presents an optimal point-to-point trajectory planning method based on fourth degree polynomials to reduce the energy consumption of a redundant planar robot in the XY plane. The contribution of this study focuses on the development of a two-level nested optimization algorithm, which manages to optimize three elements: the Optimal Weighting Vector that establishes the influence of each joint on the total energy consumption of the robotic equipment; the optimal start and finish configurations of the trajectory; and the vector corresponding to the fifth coefficient of the trajectory generator polynomial. The tests are carried out with different optimization techniques and objective functions related to energy consumption to determine their best combination and achieve the minimum possible computation time and energy savings, according to the test conditions used. Furthermore, the energetic performance of the redundant manipulator is compared with its non-redundant version, limiting its operation to only two degrees of freedom in all its variants.

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Section: E Manipulator Dynamicsmentioning

confidence: 99%

Section: E Manipulator Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm

Potter

Kern

Gonzalez

et al. 2022

ELEKTRON ELEKTROTECH

View full text Add to dashboard Cite

show abstract

A novel framework for generalizing dynamic movement primitives under kinematic constraints

2022

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In this work, we propose a novel framework for generalizing a desired trajectory pattern, encoded using Dynamic Movement Primitives (DMP), subject to kinematic constraints. DMP have been extensively used in robotics for encoding and reproducing kinematic behaviours, thanks to their generalization, stability and robustness properties. However, incorporating kinematic constraints has not yet been fully addressed. To this end, we design an optimization framework, based on the DMP formulation from our previous work, for generalizing trajectory patterns, encoded with DMP subject to kinematic constraints, considering also time-varying target and time duration, via-point and obstacle constraints. Simulations highlight these properties and comparisons are drawn with other approaches for enforcing constraints on DMP. The usefulness and applicability of the proposed framework is showcased in experimental scenarios, including a handover, where the target and time duration vary, and placing scenarios, where obstacles are dynamically introduced in the scene.

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The Effect of Communication Link Quality on Navigation Schemes: A Review

Abbas,

Madhag

2022

2022 2nd International Conference on Advances in Engineering Science and Technology (AEST)

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Path-constrained optimal trajectory planning for robot manipulators with obstacle avoidance

Cited by 7 publications

References 22 publications

Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm

Energetically Optimal Trajectory for a Redundant Planar Robot by Means of a Nested Loop Algorithm

A novel framework for generalizing dynamic movement primitives under kinematic constraints

The Effect of Communication Link Quality on Navigation Schemes: A Review

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