Planning for kinematically smooth manipulator trajectories

Zan Mi, Jingzhou Yang, Karim Abdel-Malek, Laurent Jay

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

This paper presents a general methodology and accompanying formulation for planning kinematically smooth path trajectories for serial robot manipulators. Starting from an initial point on the path, it is required to traverse a path trajectory without halting the motion (typically due to switch from one inverse solution to another). The problem focuses on determining a starting configuration at the initial point on the path. The problem is formulated in terms of a constraint function and characterized by a system of differential-algebraic equations (DAEs) of index 2. These DAEs are solved numerically by Runge-Kutta (RK) methods while a best starting configuration is chosen using a cost-function driven optimization method. The formulation is demonstrated through a planar 3 degree of freedom robot manipulator.

Original languageEnglish
Title of host publicationASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
Pages1065-1073
Number of pages9
StatePublished - 2002
EventASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002 - Montreal, QC, Canada
Duration: Sep 29 2002Oct 2 2002

Publication series

NameASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
Volume5

Conference

ConferenceASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002
CountryCanada
CityMontreal, QC
Period09/29/0210/2/02

Keywords

  • Differential-algebraic equations
  • Kinematically smooth
  • Path
  • Planning
  • Trajectories

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