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Simultaneous algorithm for trajectory planning
Author(s) -
Rubio Francisco J.,
Valero Francisco J.,
Suñer Jose Luis,
Mata Vicente
Publication year - 2010
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.203
Subject(s) - trajectory , robot , kinematics , function (biology) , computer science , control theory (sociology) , algorithm , motion planning , motion (physics) , control (management) , control engineering , simulation , artificial intelligence , engineering , physics , classical mechanics , astronomy , evolutionary biology , biology
This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society