Global minimum-jerk trajectory planning of robot manipulators
Piazzi, A.
Visioli, A.
Dipt. di Ingegneria dell'Inf., Parma Univ.;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2000
Volume: 47,
Issue: 1
On page(s): 140-149
ISSN: 0278-0046
References Cited: 11
CODEN: ITIED6
INSPEC Accession Number: 6507842
Digital Object Identifier: 10.1109/41.824136
Current Version Published: 2002-08-06
Abstract
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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