ON-LINE TRAJECTORY GENERATION CONSIDERING KINEMATIC MOTION CONSTRAINTS FOR ROBOT MANIPULATORS

Ran Zhao and Daniel Sidobre

References

  1. [1] J.J. Craig, Introduction to robotics: Mechanics and control, Vol. 3 (Upper Saddle River: Pearson Prentice Hall, 2005).
  2. [2] J.W. Jeon, An efficient acceleration for fast motion of industrial robots, Proc. IEEE IECON 21st Conf. on Industrial Electronics, Control, and Instrumentation, Orlando, FL, USA, 1995, 1336–1341.
  3. [3] K.J. Kyriakopoulos and G.N. Saridis, Minimum jerk path generation, Proc. IEEE Conf. on Robotics and Automation, Philadelphia, PA, USA, 1988, 364–369.
  4. [4] A. Piazzi and A. Visioli, Global minimum-jerk trajectory planning of robot manipulators, IEEE Transactions on Industrial Electronics, 47(1), 2000, 140–149.
  5. [5] D. Costantinescu and E.A. Croft, Smooth and time-optimal trajectory planning for industrial manipulators along specified paths, Journal of Robotic Systems, 17(5),2000, 233–249.
  6. [6] T. Kröger, On-Line Trajectory Generation in Robotic Systems Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events, Vol. 58, Springer-Verlag, 2010.
  7. [7] T. Kröger and M.W. Friedrich, Online trajectory generation: Basic concepts for instantaneous reactions to unforeseen events, IEEE Transactions on Robotics, 26(1), Washington DC, USA, 2010, 94–111.
  8. [8] S. Jlassi, S. Tliba, and Y. Chitour, An event-controlled online trajectory generator based on the human-robot interaction force processing, Industrial Robot: An International Journal, 41(1), 2014, 15–25.
  9. [9] T. Kröger, Online trajectory generation: Straight-line trajectories, IEEE Transactions on Robotic, 27(5), 2011, 1010–1016.
  10. [10] S. Macfarlane and E.A. Croft, Jerk-bounded manipulator trajectory planning: Design for real-time applications, IEEE Transactions on Robotics and Automation, 19(1), 2003, 42–52.
  11. [11] X. Broqu`ere, D. Sidobre, and H, Ignacio, Soft motion trajectory planner for service manipulator robot, Proc. IEEE/RSJ Conf. on Intelligent Robots and Systems, Nice, France, 2008, 2808– 2813.
  12. [12] S. Liu, An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulator, Proc. 7th International Workshop on Advanced Motion Control, Maribor, Slovenia, 2002, 365-370.
  13. [13] R.H. Castain and R.P. Paul, An on-line dynamic trajectory generator, The International Journal of Robotics Research, 3(1), 1984, 68–72.
  14. [14] G. Giese, R.W. Longman, and H.G Bock, Time-optimal elbow robot motion, International Journal of Robotics and Automation, 20(4), 2005, 209–221.
  15. [15] F. Liu and F. Lin, Time-jerk optimal planning Of industrial robot trajectories, International Journal of Robotics and Automation, 31(1), 2016, 1–7.
  16. [16] Y.S. Wang, L. Sun, L. Zhou, and J.T. Liu, Online minimumacceleration trajectory planning with the kinematic constraints, Acta Automatica Sinica, 40(7), 2014, 1328–1338.
  17. [17] A.Y. Lee and Y. Choi, Smooth trajectory planning methods using physical limits, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229(12), 2015, 2127–2143.
  18. [18] R. Haschke, E.W. Robert, and R. Helge, On-line planning of time-optimal, jerk-limited trajectories, Proc. IEEE/RSJ Conf. on Intelligent Robots and Systems, Nice, France, 2008, 3248–3253.
  19. [19] X. Broqu`ere, D. Sidobre, and K. Nguyen, From motion planning to trajectory control with bounded jerk for service manipulator robots, Proc. IEEE/RSJ Conf. on Robotics and Automation, Anchorage, AK, USA, 2010, 4505–4510.
  20. [20] F. Ramos, G. Mohanarajah, N. Huebel, and R. D’Andrea, Time-optimal online trajectory generator for robotic manipulators, Eidgenössische Technische Hochschule Zürich, Institute for Dynamic Systems and Control, 2013.
  21. [21] L. Biagiotti and M. Claudio, Trajectory planning for automatic machines and robots (Berlin: Springer Science and Business Media, 2008).
  22. [22] S. Perumaal and N. Jawahar, Synchronized trigonometric scurve trajectory for jerk-bounded time-optimal pick and place operation, International Journal of Robotics and Automation, 27(4), 2012, 385–395.
  23. [23] A. Frisoli, C. Loconsole, R. Bartalucci, and M. Bergamasco, A new bounded jerk on-line trajectory planning for mimicking human movements in robot-aided neurorehabilitation, Robotics and Autonomous Systems, 61(4), 2013, 404–415.
  24. [24] H. Ignacio and D. Sidobre, On-line trajectory planning of robot manipulator’s end effector in Cartesian space using quaternions, Proc. 15th Symposium on Measurement and Control in Robotics, Brussels, Belgium, 2005.

Important Links:

Go Back