Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

This paper considers the time-optimal motion and obstacle avoidance trajectory generation for industrial robots. Although there are many previous works that had a similar objective, the generation of the trajectory for a general type of robot is still challenging because high computation time is req...

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Bibliographic Details
Published in:Journal of System Design and Dynamics 2013, Vol.7(3), pp.278-292
Main Authors: UCHIYAMA, Naoki, MORI, Kazunori, TERASHIMA, Kazuhiko, SAEKI, Toru, KAMIGAKI, Toshio, KAWAMURA, Hirotoshi
Format: Article
Language:English
Subjects:
Automation
Computation
Controller
Industrial robots
Manipulator
Manufacturing engineering
Mechatronics
Motion Control
Optimization
Real time
Robots
Trajectories
Vibration Control
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Summary:This paper considers the time-optimal motion and obstacle avoidance trajectory generation for industrial robots. Although there are many previous works that had a similar objective, the generation of the trajectory for a general type of robot is still challenging because high computation time is required. This research focuses on a common type of robot that has a simple structure and moving environment. This limitation allows us to generate the trajectory in a much simpler and practical manner. In addition, oscillation suppression can be considered in the trajectory generation in the proposed approach. The real-time modification of the optimal trajectory is often required from a practical point of view. To avoid the recalculation of the trajectory that requires high computation time, we propose a real-time modification method of the trajectory. Simulation and experimental results demonstrate the effectiveness of the proposed methods.
ISSN:1881-3046
1881-3046
DOI:10.1299/jsdd.7.278