Robotics

Presenter: Gamal Abdelnasser

Dr. Omar Salah Eldin Mahmoud

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 Outline
➢ Trajectory Planning

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 Trajectory Planning
Introduction

▪ Path and trajectory planning means the way that a robot is

moved from one location to another in a controlled
manner.

▪ The sequence of movements for a controlled movement

between motion segment, in straight-line motion or in
sequential motions.

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 Trajectory Planning
PATH VS. TRAJECTORY
• Path: A sequence of robot configurations in a particular
order without regard to the timing of these
configurations.
▪ Path is a pure geometric description of motion.
• Trajectory: a path on which timing law is specified, e.g.,
velocities and accelerations in its each point.

Sequential robot movements in a path.

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 Trajectory Planning
PATH VS. TRAJECTORY
• Path planning
design of only geometric (kinematic) specifications of the positions and
orientations of robots

• Trajectory = Path + assignment of time to points along the path

• Trajectory planning
path planning + design of linear and angular velocities

• Motion Planning (MP), a general term, either:

• Path planning, or
• Trajectory planning

• Path planning < Trajectory planning

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 Trajectory Planning
Robot Motion Planning

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Trajectory generation, problem formulation

▪ The aim of the trajectory generation: to generate inputs to

the motion control system which ensures that the planned
trajectory is executed.
▪ The user or the upper-level planner describes the desired
trajectory by some parameters, usually:
• Initial and final point (point-to-point control).
• Finite sequence of points along the path (motion through
sequence of points).

▪ Trajectory planning/generation can be performed either in

the joint space or operational space.

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Joint-space vs. Cartesian-space descriptions
• Joint-space description:
- The description of the motion to be made by the robot by
its joint values.
- The motion between the two points is unpredictable.
• Cartesian space (Operational space)description:
- The motion between the two points is known at all times
and controllable.
- It is easy to visualize the trajectory, but is difficult to
ensure that singularity.

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Cartesian-space descriptions

The trajectory specified in Cartesian coordinates the trajectory may requires a sudden
may force the robot to run into itself. change in the joint angles

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 Trajectory Planning
Trajectory in the operational space

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 Trajectory Planning
Trajectory in the joint space

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Trajectory Planning

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Trajectory planning profiles

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Function used for interpolation

▪ Polynomials of different orders.

▪ Linear functions with parabolic blends.

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BASICS OF TRAJECTORY PLANNING
• Let’s consider a simple 2 degree of freedom robot.
• We desire to move the robot from Point A to Point B.
• Let’s assume that both joints of the robot can move at the maximum
rate of 10 degree/sec.

• Move the robot from A to B, to run both joints

at their maximum angular velocities.
• After 2 [sec], the lower link will have finished its
motion, while the upper link continues for another
3 [sec].
• The path is irregular and the distances traveled
by the robot’s end are not uniform.
Joint-space no normalized movements of
a robot with two degrees of freedom.

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BASICS OF TRAJECTORY PLANNING
• Let’s assume that the motions of both joints are normalized by a
common factor such that the joint with smaller motion will move
proportionally slower and the both joints will start and stop their
motion simultaneously.

• Both joints move at different speeds, but move

continuously together.
• The resulting trajectory will be different.

Joint-space, normalized movements of

a robot with two degrees of freedom.

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BASICS OF TRAJECTORY PLANNING
• Let’s assume that the robot’s hand follow a known path between point
A to B with straight line.
• The simplest solution would be to draw a line between points A and B,
so called interpolation.

• Divide the line into five segments and solve for

necessary angles  and  at each point.
• The joint angles are not uniformly changing.

Cartesian-space movements of a
two-degree-of-freedom robot.

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 Trajectory Planning
BASICS OF TRAJECTORY PLANNING
• Let’s assume that the robot’s hand follow a known path between point
A to B with straight line.
• The simplest solution would be to draw a line between points A and B, so
called interpolation.

• It is assumed that the robot’s actuators are

strong enough to provide large forces necessary
to accelerate and decelerate the joints as needed.

• Divide the segments differently.

• The arm move at smaller segments as we speed up at
the beginning.
• Go at a constant cruising rate.
• Decelerate with smaller segments as approaching
point B.

Trajectory planning with an acceleration-

deceleration regiment.
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JOINT-SPACE TRAJECTORY PLANNING

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 Trajectory Planning
Solving the ‘Path Polynomial’

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 Trajectory Planning
Solving the ‘Path Polynomial’

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Solving the ‘Path Polynomial’

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Third-Order Polynomial Trajectory Planning
• How the motions of a robot can be planned in joint-space with
controlled characteristics.

• The initial location and orientation of the robot is known, and using the inverse
kinematic equations, we find the final joint angles for the desired position and
orientation.
 (t ) = c0 + c1t + c2t 2 + c3t 3  (ti ) = c0 =  i
 (ti ) =  i
 (t f ) = c0 + c1t f + c2t 2f + c3t 3f
 (t f ) =  f
 (ti ) = c1 = 0
 (ti ) = 0 (t ) = c1 + 2c2t + 3c3t 2
• First derivative of the (t f ) = c1 + 2c2t f + 3c3t 2f = 0
(t f ) = 0 polynomial of equation
• Initial Condition • Substituting the initial
and final conditions
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Third-Order Polynomial Trajectory Planning

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Example 1

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Example 2
◼ It is desired to have the first joint of a six-axis robot go from initial angle of 30o to
a final angle of 75o in 5 seconds. Using a third-order polynomial, calculate the
joint angle at 1, 2 3, and 4 seconds.

 (t ) = c0 + c1t + c2t 2 + c3t 3

 (0) = c0 = 30
 (0) = c1 = 0

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 Trajectory Planning
Higher-order polynomials

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Higher-order polynomials

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Higher-order polynomials

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Via points with desired velocities

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Example3

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Example3

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Linear function with parabolic blends
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.

Linear interpolation requiring infinite Linear segment with parabolic blends.

acceleration.
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Linear function with parabolic blends

Position, velocity, and acceleration profiles for

linear interpolation with parabolic blends
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Linear function with parabolic blends
For convenience suppose that 𝑡0 = 0 and 𝑞ሶ 𝑡𝑓 = 𝑞ሶ 0 = 0. Then between times 0 and
𝑡𝑏 we have

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Linear function with parabolic blends

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Linear function with parabolic blends

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 Trajectory Planning
Linear function with parabolic blends

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 Trajectory Planning
Linear function with parabolic blends

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Any questions or
suggestions?!