Optimal trajectory planning for redundant manipulators based on minimum jerk

Jingzhou Yang, Joo Kim, Esteban Pena Pitarch, Karim Abdel-Malek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents an optimization-based method to solve the smooth trajectory planning problem where the user knows only the start and end points of the end-effector or the via point plus the start and end target points. For the start and end target points, we use an optimization approach to determine the manipulator configurations. Having obtained the desired minimum jerk path in the Cartesian space using the minimum jerk theory and having represented each joint motion by the third-degree B-spline curve with unknown parameters (i.e., control points), an optimization approach, rather than the pseudoinverse technique for inverse kinematics, is used to calculate the control points of each joint spline curve. the objective function includes several parts: (a) dynamic effort; (b) the inconsistency function, which is the joint rate change (first derivative) and predicted overall trend from the initial point to the end point; and (c) the nonsmoothness function of the trajectory, which is the second derivative of the joint trajectory. This method can be used for robotic manipulators with any number of degrees of freedom. Minimum jerk trajectories are desirable for their similarity to human joint movements, for their amenability to limit robot vibrations, and for their control (i.e., enhancement of control performance). Illustrative examples are presented to demonstrate the method.

Original languageEnglish
Title of host publication2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
Pages1141-1150
Number of pages10
EditionPART B
StatePublished - 2009
Event2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 - New York City, NY, United States
Duration: Aug 3 2008Aug 6 2008

Publication series

Name2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
NumberPART B
Volume2

Conference

Conference2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
CountryUnited States
CityNew York City, NY
Period08/3/0808/6/08

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