Hostname: page-component-cd9895bd7-8ctnn Total loading time: 0 Render date: 2024-12-25T01:33:39.407Z Has data issue: false hasContentIssue false
  • English
  • Français

Constrained motion planning for open-chain industrial robots

Published online by Cambridge University Press:  07 July 2010

Gianluca Antonelli ,
Cataldo Curatella  and
Alessandro Marino
Gianluca Antonelli*
Affiliation:
DAEIMI, Università degli Studi di Cassino, Via G. Di Biasio 43, 03043 Cassino (FR), Italy
Cataldo Curatella
Affiliation:
Comau S.p.A., via Rivalta 30, 10095 Grugliasco, Torino, Italy. E-mail: [email protected]
Alessandro Marino
Affiliation:
DIFA, Università degli Studi della Basilicata, Viale dell'Ateneo Lucano 10, 85100 Potenza, Italy. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In the industrial environment, several constraints affect the robot motion planning. These are imposed by manufacturing considerations, such as, e.g., to strictly follow a given path, or by physical constraints, such as, e.g., to avoid torque saturation. Among the others, limitation on the velocity, acceleration, and jerk at the joints is often required by the robot manufacturers. In this paper, a motion planning algorithm for open-chain robot manipulators that takes into account several constraints simultaneously is presented. The algorithm developed approaches the motion planning algorithm from a wide perspective, solving systematically the joint as well as the Cartesian motion, both for the point-to-point and the fly movements. The validation has been performed first by numerical simulations and then by experiments on two different industrial manipulators, with different size, with and without the presence of a payload, by imposing demanding trajectories where all the constraints have been excited.

Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 403 - 420
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Abramowitz, M. and Stegun, I. A., Handbook of Mathematical Functions with Formulas, Graphs, and Mathematical Tables (Dover, New York, 1964).Google Scholar
2.Antonelli, G., Caccavale, F. and Chiacchio, P., “A systematic procedure for the identification of dynamic parameters of robot manipulators,” Robotica 17, 427–435 (1999).CrossRefGoogle Scholar
3.Antonelli, G., Chiaverini, S., Palladino, M., Gerio, G. and Renga, G., “SmartMove4: An industrial implementation of trajectory planning for robots,” J. Ind. Robot 34 (3), 217–224 (May 2007).CrossRefGoogle Scholar
4.Bobrow, J. E., Dubowsky, S. and Gibson, J. S., “Time-optimal control of robotic manipulators along specified paths,” Int. J. Robot. Res. 4 (3), 3–17 (1985).CrossRefGoogle Scholar
5.Constantinescu, D. and Croft, E. A., “Smooth and time-optimal trajectory planning for industrial manipulators along specified paths,” J. Robot. Syst. 17 (5), 233–249 (2000).3.0.CO;2-Y>CrossRefGoogle Scholar
6.Dahl, O., “Path constrained robot control: Experimental evaluation,” Mechatronics (Oxford) 4 (2), 173–198 (1994).CrossRefGoogle Scholar
7.Dahl, O., “Path-constrained robot control with limited torques-experimental evaluation,” Robot. Autom. IEEE Trans. 10 (5), 658–669 (1994).CrossRefGoogle Scholar
8.Dahl, O. and Nielsen, L., “Torque-limited path following by online trajectory time scaling,” Robot. Autom. IEEE Trans. 6 (5), 554–561 (1990).CrossRefGoogle Scholar
9.Gasparetto, A. and Zanotto, V., “A technique for time-jerk optimal planning of robot trajecotries,” Robot. Comput.-Integr. Manuf. 2008 24, 415–426 (2008).CrossRefGoogle Scholar
10.Kasiriski, A. and Wencel, J., “Constraints Satisfying Trajectory Tracking Algorithm for the 3 dof Manipulator,” Proceedings of the Fifth International Workshop on Robot Motion and Control, Dymaczewo, Poland (23–25 June 2005) pp. 111–116.Google Scholar
11.Kyriakopoulos, K. J. and Saridis, G. N., “Minimum Jerk Path Generation,” Robotics and Automation, 1988. Proceedings of the 1988 IEEE International Conference on (1988) pp. 364–369.Google Scholar
12.Lee, T. T. and Shih, C. L., “An Approach for Robot Dynamic Motion Planning with Control Torquesand Obstacles Constraints,” Sixteenth Annual Conference of IEEE Industrial Electronics Society, Pacific Grove, CA (27–30 Nov. 1990), vol. 1, pp. 433–438.Google Scholar
13.Macfarlane, S.. On-Line Smooth Trajectory Planning for Manipulators PhD thesis (New Brunswick, Canada: The University of New Brunswick, 2001).Google Scholar
14.Macfarlane, S. and Croft, E. A., “Jerk-bounded robot trajectory planning-design for real-time applications,” IEEE Trans. Robot. Autom. 19 (1), 42–52 (2003).CrossRefGoogle Scholar
15.Moore, K. L., Ghosh, M. and Chen, Y. Q., “Spatial-based iterative learning control for motion control applications,” Meccanica 42 (2), 167–175 (2007).CrossRefGoogle Scholar
16.Moreno-Valenzuela, J., “Time-scaling of trajectories for point-to-point robotic tasks,” ISA Trans. 45 (3), 407–418 (2006).CrossRefGoogle ScholarPubMed
17.Moreno-Valenzuela, J., “Tracking Control of On-line Time-Scaled Trajectories for Robot Manipulators Under Constrained Torques,” Proceedings 2006 IEEE International Conference on Robotics and Automation, Orlando, FL (May 2006) pp. 19–24.Google Scholar
18.Munasinghe, S., Nakamura, M., Iwanaga, T., Goto, S. and Kyura, N., “Precise, Jerk-Free Contouring of Industrial Robot Arms Withtrajectory Allowance Under Torque and Velocity Constraints,” Industrial Electronics Society, 2001. IECON'01. The 27th Annual Conference of the IEEE, vol. 1 (2001).Google Scholar
19.Piazzi, A., Lo Bianco, C Guarino and Romano, M., “η3-splines for the smooth path generator of wheeled mobile robots,” IEEE Trans. Robot. 23 (5), 1089–1095 (2007).CrossRefGoogle Scholar
20.Piegl, L. and Tiller, W., The NURBS Book, 2nd ed. (Springer, Heidelberg, 1997).CrossRefGoogle Scholar
21.Rieswijk, T. A., Brouwn, G. G. and Honderd, G., “A robust and efficient approach for the time optimization of pathconstrained motions of robotic manipulators incorporating actuatortorque and jerk constraints,” Proceedings of the 1992 IEEE International Symposium on Intelligent Control, Glasgow, Scotland, (Aug. 1992) pp. 507–513.CrossRefGoogle Scholar
22.Sciavicco, L. and Siciliano, B., Modeling and Control of Robot Manipulators, 2nd edn. (Springer-Verlag, London, 2000).CrossRefGoogle Scholar
23.Shin, K. G. and McKay, N. D., “Minimum time control of robotic manipulators along specified paths,” IEEE Trans. Robot. Autom. 30 (6), 531–541 (1985).Google Scholar
24.Slotine, J.-J. E. and Yang, H. S., “Improving the efficiency of time-optimal path-following algorithms,” IEEE Trans. Robot. Autom. 34, 118–124 (1989).CrossRefGoogle Scholar