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Algorithms of trajectory planning with constrained deviation from a given end-effector path

Published online by Cambridge University Press:  15 November 2004

Ignacy Dulȩba  and
Iwona Karcz–Dulȩba
Ignacy Dulȩba
Affiliation:
Institute of Engineering Cybernetics, Wrocław University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland) E-mail: iwd@ict.pwr.wroc.plkdiwona@ict.pwr.wroc.pl
Iwona Karcz–Dulȩba
Affiliation:
Institute of Engineering Cybernetics, Wrocław University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland) E-mail: iwd@ict.pwr.wroc.plkdiwona@ict.pwr.wroc.pl
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Abstract

In this paper two well known and two new methods, and corresponding algorithms, of trajectory planning with a constrained end-effector path tracking error are presented and compared. They are: an exact path following method, the Taylor's algorithm of following a straight line with prescribed accuracy, a local optimization method, and a method of local trajectory shortening. It appears that the last two methods provide path following with a prescribed accuracy while keeping a planned trajectory as short as possible. Presented algorithms can extend robot programming languages with a tool of trajectory planning.

Keywords

Manipulatortrajectory planningoptimizationalgorithm
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 633 - 642
Copyright
© 2004 Cambridge University Press

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