Optimal Time-Jerk Trajectory Generation for Robot Manipulators

Jose Avalos, Oscar E. Ramos

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
EditoresLorena Garcia, Pedro Wightman, Winston Percybrooks, Henry Carrillo, Carlos Quintero
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538684641
DOI
EstadoPublicada - 24 dic. 2018
Evento2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018 - Barranquilla, Colombia
Duración: 1 nov. 20183 nov. 2018

Serie de la publicación

Nombre2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018

Conferencia

Conferencia2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
País/TerritorioColombia
CiudadBarranquilla
Período1/11/183/11/18

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