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Structured Motion Planning in the Local Configuration Space

Published online by Cambridge University Press:  09 March 2009

A. M. S. Zalzala  and
A. S. Morris
A. M. S. Zalzala
Affiliation:
Robotics Research Group, Department of Control Engineering, University of Sheffield, Mappin Street, Sheffield S1 3JD (UK)
A. S. Morris
Affiliation:
Robotics Research Group, Department of Control Engineering, University of Sheffield, Mappin Street, Sheffield S1 3JD (UK)
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Summary

The minimum-time motion of robot manipulators is solved by defining a suitable time history for the arm end-effector to traverse. As the planning is performed in the configuration space, the uniqueness of the proposed algorithm emerges from the combination of both cubic and quadratic polynomial splines. Furthermore, the highly efficient time optimisation procedure could be applied to local segments of each joint trajectory, leading to a significant reduction of the travelling time. In addition, the ability to perform a search in the work space is granted, exploiting all possible options for an optimum motion. The method proposed considers all realistic physical limitations inherent in the manipulator design, in addition to any geometric constraints imposed on the path. Simulation programs have been written, and results are reported for the Unimation PUMA 560 robot manipulator.

Keywords

Minimum-time motionRobotsOptimisationConfiguration spaceMotion planning
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 81 - 92
Copyright
Copyright © Cambridge University Press 1991

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