Minimum-time trajectory planning of mechanical manipulators under dynamic constraints

The paper presents a global optimization approach to the trajectory planning problem of mechanical manipulators. The purpose is to obtain a minimum-time cubic spline trajectory subject to constraints given by limited joint torques and torque derivatives taking into account the non-linear manipulator...

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Bibliographic Details
Published in:International journal of control 2002-01, Vol.75 (13), p.967-980
Main Authors: Lo Bianco, Corrado Guarino, Piazzi, Aurelio
Format: Article
Language:English
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Summary:The paper presents a global optimization approach to the trajectory planning problem of mechanical manipulators. The purpose is to obtain a minimum-time cubic spline trajectory subject to constraints given by limited joint torques and torque derivatives taking into account the non-linear manipulator dynamics. It is shown how, without conservativeness, a semi-infinite optimization problem emerges. Conditions ensuring that the formalized problem admits a solution are given. The estimated global solution can be actually obtained by means of an hybrid genetic/interval algorithm that guarantees the feasibility of the found solution. The methodology is illustrated with numerical details for a two-link planar arm and a PUMA six-link manipulator; for the former, comparisons with an alternative optimization solver are exposed.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170210156161