Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour

DOI10.1016/J.MECHMACHTHEORY.2005.08.002MaRDI QIDQ2489516zbMATH OpenOpenAlexFDO

Authors Vicente Mata, Antonio Besa, Francisco J. Valero

Publication date 28 April 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2005.08.002

zbMATH Keywords

minimal energy consumptionobstacle avodance

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Review text

The path planning algorithms for robotic systems try to obtain a sequence of robot configurations that fulfils some conditions, mainly collision avoidance. The algorithms devoted to determine the optimal trajectory for robotic systems try to obtain a temporal history of the evolution of robot joint coordinates in order to minimize the required time or energy consumption. The present paper considers the second area of problems, namely the obstacle avoidance minimizing the robot energy consumption. The proposed trajectory planner is arranged in two stages: 1. Obtaining a discrete configuration space; 2. Obtaining an optimal and feasible trajectory. At the first stage, unlike other planners, the problem is set out in Cartesian space, and the motion between adjacent configurations is characterized by the travel time. At the second stage, a trajectory in the joint space is generated that minimizes the total required time and is dynamically compatible with robot features.

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Cited in

(9)

• Planning of manipulator motion trajectory with higher-degree polynomials use
• Simultaneous algorithm to solve the trajectory planning problem
• Time-variant consensus tracking control for networked planar multi-agent systems with non-holonomic constraints
• Trajectory planning based on minimum absolute input energy for an LCD glass-handling robot
• Assembly line productivity assessment by comparing optimization-simulation algorithms of trajectory planning for industrial robots
• Planning of the trajectory for the tip of redundant robotic mechanisms in the presence of obstacles
• scientific article; zbMATH DE number 1827931 (Why is no real title available?)
• Trajectory modeling of robot manipulators in the presence of obstacles
• Trajectory planning and tracking control for 6‐DOF Stanford manipulator based on adaptive sliding mode multi‐stage switching control

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