Hostname: page-component-76fb5796d-9pm4c Total loading time: 0 Render date: 2024-04-25T10:44:58.039Z Has data issue: false hasContentIssue false
  • English
  • Français

On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles

Published online by Cambridge University Press:  09 March 2009

Ir. L. Van Aken  and
H. Van Brussel
Ir. L. Van Aken
Affiliation:
Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, 3030 Leuven (Belgium)
H. Van Brussel
Affiliation:
Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, 3030 Leuven (Belgium)
Get access Rights & Permissions [Opens in a new window]

Summary

A method for trajectory control in the joint space is presented. An acceleration profile is proposed for each segment of the trajectory. After a twofold integration a position trajectory is obtained with advantageous characteristics. The position trajectory is completely dynamically balanced; it exhibits continuity up to the third derivative of the position. This way, minimum requirements are imposed on the actuators. The technique delivers predictable results since the trajectory deviates only slightly from a straight line connection between successive joint coordinates. Very limited computational effort is required.

Keywords

Trajectory ControlAcceleration ProfileOn-lineRobots
Type
Research Article
Information
Robotica , Volume 6 , Issue 3 , July 1988 , pp. 185 - 195
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Grossman, D.D., “Programming a Computer Controlled Manipulator by Guiding Through the Motions” Res. Rep. R C 6393 (IBM T.J. Watson Res. Center, 1977).Google Scholar
2.Lozano-Pérez, T., “Robot Programming” Proceedings of the IEEE 71, No. 7, (07, 1983) pp. 821–841.CrossRefGoogle Scholar
3.Paul, R.P., “Cartesian Coordinate Control of Robots in Joint Coordinates” 3th CISM-IFTOMM conference (09, 1978).Google Scholar
4.Paul, R.P., “Modelling, Trajectory Calculation, and Servoing of a Controlled Arm” Rep. AIM 177 (Stanford Univ., A.I. Lab., 11, 1977).Google Scholar
5.Paul, R.P., “An On-Line Dynamic Trajectory Generator” Communications Robotics Res. 68–72 (1983).Google Scholar
6.Taylor, R.H., “Planning and Execution of Straight Line Manipulator Trajectories” IBM J. Res. Developm. 23, No. 4, 424–436 (07, 1979).CrossRefGoogle Scholar
7.Brady, M., “Trajectory Planning” In: Robot Motion: Planning and Control (Brady, M. et al. , Eds.) (Cambridge, Mass., 1983).Google Scholar
8.Lin, Chun-Shin, Chang, Po-Rong and Luh, J.Y.S., “Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots” IEEE Trans. on Automatic Control 28, No. 12, 1066–1074 (12, 1983).CrossRefGoogle Scholar
9.De Fraine, J., “The Computer Aided Design and Computer Aided Manufacturing of CAMS” CRIF Report MC 75 (11, 1982).Google Scholar
10.Aken, L. Van, “Robot motion in free space: Task specification & trajectory planning” Ph.D. Thesis (K.U. Leuven, 87D1, 1987).Google Scholar