TY - GEN
T1 - Optimal Time-Jerk Trajectory Generation for Robot Manipulators
AU - Avalos, Jose
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/24
Y1 - 2018/12/24
N2 - This work presents a method to obtain minimum-Time smooth motion trajectories for robot manipulators. The strategy is to design the trajectory as a combination of cubic splines for position, velocity and acceleration using seven degree polynomials to ensure that the initial and final conditions are set to zero. The spline is obtained with an optimization based in L-BFGS-B (Limited-memory Broyden-Fletcher-Goldfarb-Shanno) with weighing between the accumulated time or jerk, which are part of the cost equation to let the user generate the trajectory according to the specific task. The proposed method is implemented in a Sawyer robot and, under the premise of precisely passing through the required knots, the spline motion is compared with functions from the manufacturer that directly provide tools for kinematic inversion to show the advantage of our approach.
AB - This work presents a method to obtain minimum-Time smooth motion trajectories for robot manipulators. The strategy is to design the trajectory as a combination of cubic splines for position, velocity and acceleration using seven degree polynomials to ensure that the initial and final conditions are set to zero. The spline is obtained with an optimization based in L-BFGS-B (Limited-memory Broyden-Fletcher-Goldfarb-Shanno) with weighing between the accumulated time or jerk, which are part of the cost equation to let the user generate the trajectory according to the specific task. The proposed method is implemented in a Sawyer robot and, under the premise of precisely passing through the required knots, the spline motion is compared with functions from the manufacturer that directly provide tools for kinematic inversion to show the advantage of our approach.
UR - https://www.scopus.com/pages/publications/85061010739
U2 - 10.1109/CCRA.2018.8588137
DO - 10.1109/CCRA.2018.8588137
M3 - Conference contribution
AN - SCOPUS:85061010739
T3 - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
BT - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
A2 - Garcia, Lorena
A2 - Wightman, Pedro
A2 - Percybrooks, Winston
A2 - Carrillo, Henry
A2 - Quintero, Carlos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
Y2 - 1 November 2018 through 3 November 2018
ER -