Abstract
This paper presents a fast computation method for time-optimal robot state trajectories along specified geometric paths. A main feature of this new algorithm is that joint positions can be generated in realtime. Hence, not only joint velocities and accelerations limits but also constraints on joint jerks and motor torques can be considered. Jerk limits are essential to avoid vibrations due to (not-modeled) gear or structure flexibilities. For the limitation of motor torques a complete dynamic robot model including Coulomb and viscous friction is used. The underlying optimal control problem is found by projecting the problem onto the geometric path. The resulting state vector contains path position, speed and acceleration while path jerk is used as input. From optimal control theory it follows that the path jerk has to be chosen at its boundaries, which can be computed for each state in each step. Continuous state progress is assured via so called test trajectories which are additionally computed in each step. As an example the algorithm is applied to a six-axis industrial robot moving along a straight line in Cartesian space.
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Support of the Austrian Center of Competence in Mechatronics (ACCM) is gratefully acknowledged.
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© 2013 Springer-Verlag Wien
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Messner, L., Gattringer, H., Bremer, H. (2013). Efficient Online Computation of Smooth Trajectories Along Geometric Paths for Robotic Manipulators. In: Gattringer, H., Gerstmayr, J. (eds) Multibody System Dynamics, Robotics and Control. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1289-2_2
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DOI: https://doi.org/10.1007/978-3-7091-1289-2_2
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