A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and is solved by means of a first order derivative-type algorithm for semi-infinite nonlinear programming. Feasible directions in the parameter space are generated using sensitivity coefficients of the active constraints. Numerical simulations are reported for a two-link Scara robot. The proposed approach can be used for optimizing more general objective functions under different types of constraints.
A SENSITIVITY APPROACH TO OPTIMAL SPLINE ROBOT TRAJECTORIES / DE LUCA, Alessandro; Lanari, Leonardo; Oriolo, Giuseppe. - In: AUTOMATICA. - ISSN 0005-1098. - 27:3(1991), pp. 535-539. [10.1016/0005-1098(91)90111-e]
A SENSITIVITY APPROACH TO OPTIMAL SPLINE ROBOT TRAJECTORIES
DE LUCA, Alessandro;LANARI, Leonardo;ORIOLO, Giuseppe
1991
Abstract
A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and is solved by means of a first order derivative-type algorithm for semi-infinite nonlinear programming. Feasible directions in the parameter space are generated using sensitivity coefficients of the active constraints. Numerical simulations are reported for a two-link Scara robot. The proposed approach can be used for optimizing more general objective functions under different types of constraints.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
