A New Trajectory Planning Approach With Motion Duration Control for Kinematic Constrained Systems

Trajectory planning for industrial applications such as pick-and-place, welding or material handling yields production enhancement and economic improvements. The problem of trajectory planning given an initial and target state is a fundamental issue for robotic applications and automation in general...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2024-01, Vol.9 (1), p.467-474
Main Authors: Both, Lucas de Andrade, Lange, Felix
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Constrained motion planning
Constraints
Control systems
Controllability
Industrial applications
Kinematics
Materials handling
motion and path planning
Motion effects
Planning
Robotics
Synchronism
Synchronization
Trajectory
Trajectory planning
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Summary:Trajectory planning for industrial applications such as pick-and-place, welding or material handling yields production enhancement and economic improvements. The problem of trajectory planning given an initial and target state is a fundamental issue for robotic applications and automation in general. This paper presents a novel algorithm to calculate the actuator's motion profile between two states considering its kinematic constraints. The key feature of the presented concept is to use more conservative values for the kinematic constraints to find a motion profile, such that the target state can be reached given a fixed trajectory duration. One advantage of this approach is the synchronization possibility with further actuators, whose trajectories durations are fixed and not controllable. Finally, an application case using a real system is described, and the simulation results are presented using the proposed algorithm.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3333237