Global minimum-jerk trajectory planning of robot manipulators
Piazzi, A.; Visioli, A.
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 1, Feb 2000 Page(s):140 - 149
Digital Object Identifier 10.1109/41.824136
Summary:A new approach based on interval analysis is developed to find the
global minimum-jerk (MJ) trajectory of a robot manipulator within a
joint space scheme using cubic splines. MJ trajectories are desirable
for their similarity to human joint movements and for their amenability
to path tracking and to limit robot vibrations. This makes them
attractive choices for robotic applications, in spite of the fact that
the manipulator dynamics are not taken into account. Cubic splines are
used in a framework that assures overall continuity of velocities and
accelerations in the robot movement. The resulting MJ trajectory
planning is shown to be a global constrained minimax optimization
problem. This is solved by a newly devised algorithm based on interval
analysis and proof of convergence with certainty to an arbitrarily good
global solution is provided. The proposed planning method is applied to
an example regarding a six-joint manipulator and comparisons with an
alternative MJ planner are exposed
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