Jerk-bounded manipulator trajectory planning: design for real-time applications

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI:10.1109/TRA.2002.807548

Sonja E. Macfarlane, E. Croft

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引用次数: 392

Abstract

An online method for obtaining smooth, jerk-bounded trajectories has been developed and implemented. Jerk limitation is important in industrial robot applications, since it results in improved path tracking and reduced wear on the robot. The method described herein uses a concatenation of fifth-order polynomials to provide a smooth trajectory between two way points. The trajectory approximates a linear segment with parabolic blends trajectory. A sine wave template is used to calculate the end conditions (control points) for ramps from zero acceleration to nonzero acceleration. Joining these control points with quintic polynomials results in a controlled quintic trajectory that does not oscillate, and is near time optimal for the jerk and acceleration limits specified. The method requires only the computation of the quintic control points, up to a maximum of eight points per trajectory way point. This provides hard bounds for online motion algorithm computation time. A method for blending these straight-line trajectories over a series of way points is also discussed. Simulations and experimental results on an industrial robot are presented.

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机械臂轨迹规划:实时应用的设计

开发并实现了一种获取光滑、有跳变轨迹的在线方法。在工业机器人的应用中，减振限制是很重要的，因为它可以改善机器人的路径跟踪，减少机器人的磨损。本文描述的方法使用五阶多项式的串联来提供两个路点之间的平滑轨迹。该轨迹近似于具有抛物线混合轨迹的线段。使用正弦波模板计算从零加速度到非零加速度的坡道的结束条件(控制点)。将这些控制点与五次多项式相结合，可以得到一个受控的五次轨迹，该轨迹不会振荡，并且对于指定的抽搐和加速度限制接近于时间最优。该方法只需要计算五次控制点，每个轨迹路径点最多可计算8个控制点。这为在线运动算法的计算时间提供了硬性界限。本文还讨论了在一系列路径点上混合这些直线轨迹的方法。给出了工业机器人的仿真和实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IEEE Trans. Robotics Autom.

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