6.18.1, DEFINE TRAJECTORY ae Trajectory means path (or) track. It generates sequence of time based control set points for the control of manipulator from the initial configuration to its destination. interpolate (oy) approximate the desired path by a class of polynomial functions. Trajectory generation means construct trajectory (path + time scaling) so that the robot reaches a sequence of points in a given time. Trajectory should be sufficiently smooth and respect limits on joint variables, velocities, accelerations (or) torques. 6.18.1.1. Aim of the Trajectory Generation Aim of the trajectory generation is to generate inputs to the motion control system which ensures that the planned trajectory is executed. 6.18.1.2, Description of Trajectory Generation The user (or) upper level planner describes the desired trajectory by some parameters usually. 1, Initial and final point (point to point control). 2. Finite sequence of point along the path (Motion through sequence of points). ‘Trajectory planning (or) generation can be performed either in the joint space, (0x) operational space. 1. Joint Space “The vector product of the translational and angular displacement of each joint of a robotic link. All the places that a robotic arm can access, Joint space in robotics is defined by a vector whose components are the translational and angular displacement of each joint of a robotic link.Joint Space : Description The description of the motion to be made by the robot by its joint value. The motion See romeeuieannnd Story in the int pace / Calculate the inverse kinematics solution from 1 point tothe final point. Assign total time Tyg, using maximum velocities in joints. 4 Discretize the individual joint trajectories in time. Blend a continuous function between these point. advantages 1. Itean easily take into account joint angle, velocity constraints. 2. Inverse kinematics is computed only once. Disadvantages 1. Trajectory in the joint space cannot deal with operational space obstacles. Description of Operational Space 1, The motion between the two points is known at all times and controllable. 2. It is easy to visualize the trajectory. But itis difficult to ensure the singularity does not occur. ‘Trajectory in the Operational Space 4 Calculate path from the initial point to the final point, 4 Assign a total time, .,, 10 traverse the path. + Discretization the points in time and space, 4 Blend a continuous time function between these points. 4 Solve inverse kinematics at each step. Advantages 1. Collision free path can be obtained. Disadvantages 1. Trajectory in the operational space is unknown how to set the total time T,, 2. Computationally expensive due to inverse kinematics6.18.1.3. Trajectory Planning Trajectory planning is moving from point A to point B while avoiding collisions overtime. Trajectory planning is a major area in robotics as it gives way to autonomous vehicles. 4 Trajectory planning is sometimes referred to as motion planning and erroneously as path planning. 4 Joint space planning is in common usage in robotics to provide smooth, continuous motion from one set of joint angles to another. for instance, for moving between two distinct. Trajectory planning is a fundamental issues for robot application and automation in general. ‘The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion especially at the high operating speeds necessary in many applications. Optimal trajectory for a given path is some significant solutions. ‘The robot is required to pick objects from point A and place them any point B. 4 The specific path taken by the end effector is not of much concern except that it should avoid collision with other objects in the environment. Consider another typical task such as welding depicted where in the end effector is required to strictly trace the desired path to ensure a proper weld. Path of Movements 4 Tasks of the first type are referred to a point to point, while the second group of tasks is referred to as continuous type. I Types of Motion 1. Point to Point Motion “End effects moves from a start point end point in work space.* * Ail joints movements are coordinated for the point to point motion, End effector travels in an arbitrary plane, 2, Motion with via Points 4 End effector moves through an intermediate point between start and end, 4 End effector moves through a via point without stopping. 4 Figure 6.59 shows motion with via points. Start Start end end via (6) Point o point motion (©) Motion with via points Fig, 6.59. Types of motion 6.18.2. PATH PLANNING ath is an ordered locus of points in the space either joint (or) operation with the manipulator should follow. The position of a body (or) bodies over a period of time without worrying about velocity (or) higher order terms. Planning is calculating how to compose and sequence a set of primitive: ‘a way that tukes a body from an initial state to a final state while respectively a set of constraints {avoiding obstacles (or) burning minimal fuel for instance.) 6.18.2.1. Path Planning * * Tasks of robot control can be classified in different path planning strategies can be used in the case of different situe “There are two types of constraints that must be considered in path planning. First, the motion of a robot can be restricted by obstacles and obstacle constraints have to be used on the other hand there can be some kind of constraints for path selection. ‘These constraints are known as path constraints it will be assumed that some points in the robot motion space are occupied and the robot cannot plan the path through these areas, In the case of path constraints, there can be some referred points that must be necessarily passed through.The following path planning strategies exist & Path constrained (signed path) offline (or) online path planning with collision avoidance. Position controlled motion with online obstacle identification and collision avoidance (without path constraints, i.e path signs). Path constrained offline path planning (or) online pass through the signed path (collisions are possible). Position controlled motion’ without obstacle identification (collisions are possible). These strategies can be used to solve path planning tasks in robotics in most of the cases. The position controlled motion is the motion along interpolated trajectories between signed and referred path points. The signal path is the path having regular defined points that most be unconditionally passed through. The main path planning tasks for a robot are as follows: ae eene Grasping and releasing objects moving from place to place Following previously specified paths Following moving objects working with other manipulators Exerting forces such as pushing, pulling and holding Exerting torque is collecting data Using tools