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Trajectory Planning

Trajectory planning for robots

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Erick Garcia
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127 views43 pages

Trajectory Planning

Trajectory planning for robots

Uploaded by

Erick Garcia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robot Trajectory Planning

Robot control methods


1- Lead-through programming
The human operator physically grabs the endeffector and shows the robot exactly what
motions to make for a task, while the
computer memorizes the motions
(memorizing the joint positions, lengths
and/or angles, to be played back during task
execution).

2- Teach programming
Move robot to required task positions via teach pendant; computer
memorizes these configurations and plays them back in robot motion
sequence. The teach pendant is a controller box that allows the human
operator to position the robot by manipulating the buttons on the box.
This type of control is adequate for simple, non-intelligent tasks.

3- Off-line programming
Use of computer software with realistic graphics to plan and
program motions without use of robot hardware (such as IGRIP).
4- Autonomous
Controlled by computer, with sensor feedback, without human
intervention. Computer control is required for intelligent robot
control. In this type of control, the computer may send the robot
preprogrammed positions and even manipulate the speed and
direction of the robot as it moves, based on sensor feedback. The
computer can also communicate with other devices to help guide
the robot through its tasks.

5- Teleoperation
Human-directed motion, via a joystick. Special joysticks that allow
the human operator to feel what the robot feels are called haptic
interfaces.
6- Telerobotic
Combination of autonomous and teleoperation.

Control Circuit

PD Compensator

Saturation
Many manipulators incorporate current limiters in the servosystem to prevent damage that might result from
overdrawing current.

PID Compensator

FEEDFORWARD CONTROL

Robot Motion Planning


Tasks
Task Plan
Action Plan
Path Plan
Trajectory
Plan
Controller
Robot

Path planning
Geometric path
Issues: obstacle avoidance, shortest path

Trajectory planning,
interpolate or approximate the desired
path by a class of polynomial functions and
generates a sequence of time-based
control set points for the control of
manipulator from the initial configuration
to its destination.

Sensor

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Path Plan

Trajectory Planning
(continuity,
smoothness)

Path
constraints
joint space

Path
specification

Trajectory
Planner

{q (t ), q (t ), q(t )}
or

sequence of control set points


along desired trajectory

{ p(t ), v(t ), a(t )}


cartesian space

13

Trajectory planning
Joint i

Final

Path Profile
Velocity Profile

q(tf)
q(t2)

Set down

q(t1)

q(t0)

Lift-off
Initial

Acceleration Profile
t0

t1

t2

tf Time

Speed

t0
Acceleration

t0

t1

t1

t2

t2

tf

Time

tf Time

14

The boundary conditions


1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
12)
13)
14)
15

Initial position
Initial velocity
Initial acceleration
Lift-off position
Continuity in position at t1
Continuity in velocity at t1
Continuity in acceleration at t1
Set-down position
Continuity in position at t2
Continuity in velocity at t2
Continuity in acceleration at t2
Final position
Final velocity
Final acceleration

Requirements
Initial Position
Position (given)
Velocity (given, normally zero)
Acceleration (given, normally zero)

Final Position
Position (given)
Velocity (given, normally zero)
Acceleration (given, normally zero)
16

Requirements
Intermediate positions
set-down position (given)
set-down position (continuous with previous
trajectory segment)
Velocity (continuous with previous trajectory
segment)
Acceleration (continuous with previous trajectory
segment)

17

Requirements
Intermediate positions
Lift-off position (given)
Lift-off position (continuous with previous
trajectory segment)
Velocity (continuous with previous trajectory
segment)
Acceleration (continuous with previous trajectory
segment)

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Trajectory Planning
n-th order polynomial, must satisfy 14 conditions,
13-th order polynomial
a13t 13 a2t 2 a1t a0 0

4-3-4 trajectory
h1 (t ) a14t 4 a13t 3 a12t 2 a12t a10

t0t1, 5 unknow

h2 (t ) a23t 3 a22t 2 a21t a20

t1t2, 4 unknow

hn (t ) an 4t 4 an 3t 3 an 2t 2 an 2t an 0

t2tf, 5 unknow

3-5-3 trajectory
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Trajectories for Point to Point Motion


As described above, the problem here is to find
a trajectory that connects an initial to a final
configuration while satisfying other specified
constraints at the endpoints (e.g., velocity
and/or acceleration constraints).
Without loss of generality, we will consider
planning the trajectory for a single joint, since
the trajectories for the remaining joints will be
created independently and in exactly the same
way.
Thus, we will concern ourselves with the
problem of determining q(t), where q(t) is a
scalar joint variable.

Cubic Polynomial Trajectories

Example

Quintic Polynomial Trajectories


a cubic trajectory gives continuous positions and velocities
at the start and finish points times but discontinuities in the
acceleration. The derivative of acceleration is called the jerk.
A discontinuity in acceleration leads to an impulsive jerk,
which may excite vibrational modes in the manipulator and
reduce tracking accuracy.
For this reason, one may wish to specify constraints on the
acceleration as well as on the position and velocity. In this
case, we have six constraints (one each for initial and final
configurations, initial and final velocities, and initial and final
accelerations). Therefore we require a fifth order polynomial

Ex:
a quintic polynomial trajectory with q(0) = 0, q(2) = 40 with
zero initial and final velocities and accelerations.

Linear Segments with Parabolic Blends (LSPB)


Another way to generate suitable joint space trajectories is
by so-called Linear Segments with Parabolic Blends or (LSPB)
for short. This type of trajectory is appropriate when a
constant velocity is desired along a portion of the path. The
LSPB trajectory is such that the velocity is initially ramped
up to its desired value and then ramped down when it
approaches the goal position.
To achieve this we specify the desired trajectory in three
parts. The first part from time t0 to time tb is a quadratic
polynomial. This results in a linear ramp velocity.
At time tb, called the blend time, the trajectory switches to a
linear function. This corresponds to a constant velocity.
Finally, at time tf tb the trajectory switches once again, this
time to a quadratic polynomial so that the velocity is linear.

We choose the blend time tb so that the position curve is symmetric . For
convenience suppose that t0 = 0 and q(tf ) = 0 = q(0). Then between
times 0 and tb we have

between time tf and tf tb, the trajectory is a linear segment


(corresponding to a constant velocity V )

The complete LSPB trajectory is given by

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